Haptic game controller with dual linear vibration actuators

ABSTRACT

The disclosure relates to integrated modules for Synchronized Array of Vibration Actuators (FIG.  125 A). The modules provide physical interface, power and communication interfaces. Each module may include vibration actuators (FIG.  123 A) which can be precisely attached and aligned to the module housing, a microcontroller or other microprocessor, and one or more sensors for closed loop control of actuators (FIG.  126 G). Interleaved pairs of ERMs having a center of mass in the same plane eliminate parasitic torque. A single module can produce a vibration force that rotates at a specific frequency and magnitude, which on its own could cancel out some types of periodic vibrations (FIG.  125 B). Two modules paired together and counter-rotating with respect to each other can produce a directional vibration at a specific frequency and magnitude, which could prove even more useful for canceling out a vibration. Such modules are also employed to produce beating patterns (FIGS.  131 - 133 ). Both amplitude and frequency of the beating force are variable.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. patent application Ser. No.16/583,964, filed Sep. 26, 2019, which is a continuation of U.S. patentapplication Ser. No. 16/249,030, filed Jan. 16, 2019, issued on Dec. 17,2019 as U.S. Pat. No. 10,507,493, which is a continuation of U.S. patentapplication Ser. No. 15/681,820, filed Aug. 21, 2017, issued on Mar. 12,2019 as U.S. Pat. No. 10,226,792, which is a continuation of U.S. patentapplication Ser. No. 14/903,452, filed Jan. 7, 2016, and entitledSYNCHRONIZED ARRAY OF VIBRATION ACTUATORS IN AN INTEGRATED MODULE,issued on Sep. 19, 2017 as U.S. Pat. No. 9,764,357, which is a nationalphase entry under 35 U.S.C. § 371 of International Application No.PCT/US2014/045984, filed Jul. 9, 2014, which claims the benefit of thefiling date of U.S. Provisional Patent Application No. 61/844,100, filedJul. 9, 2013 and entitled Synchronized Array of Vibration Actuators inan Integrated Module, the entire disclosures of which are herebyexpressly incorporated by reference herein. The Ser. No. 14/903,452application is a continuation-in-part of U.S. patent application Ser.No. 13/422,453, filed Mar. 16, 2012 and entitled ASYMMETRIC AND GENERALVIBRATION WAVEFORMS FROM MULTIPLE SYNCHRONIZED VIBRATION ACTUATORS,issued on Mar. 17, 2015 as U.S. Pat. No. 8,981,682, which is acontinuation-in-part of U.S. patent application Ser. No. 13/030,663,filed Feb. 18, 2011, and entitled SYNCHRONIZED VIBRATION DEVICE FORHAPTIC FEEDBACK, issued on Feb. 26, 2013 as U.S. Pat. No. 8,384,316,which is a continuation of U.S. application Ser. No. 11/476,436, filedJun. 27, 2006, issued on Apr. 5, 2011 as U.S. Pat. No. 7,919,945, whichclaims the benefit of the filing date of U.S. Provisional PatentApplication No. 60/694,468 filed Jun. 27, 2005 and entitled SYNCHRONIZEDVIBRATION DEVICE FOR HAPTIC FEEDBACK, the entire disclosures of whichare hereby expressly incorporated by reference herein. The Ser. No.13/422,453 application also claims the benefit of the filing dates ofU.S. Provisional Patent Application No. 61/453,739, filed Mar. 17, 2011and entitled ASYMMETRIC AND GENERAL VIBRATION WAVEFORMS FROM MULTIPLESYNCHRONIZED VIBRATION ACTUATORS, and U.S. Provisional PatentApplication No. 61/511,268, filed Jul. 25, 2011 and entitled ASYMMETRICAND GENERAL VIBRATION WAVEFORMS FROM MULTIPLE SYNCHRONIZED VIBRATIONACTUATORS, the entire disclosures of which are hereby expresslyincorporated by reference herein. And this application is related toU.S. Provisional Patent Application No. 61/607,092, filed Mar. 6, 2012and entitled SYNCHRONIZED ARRAY OF VIBRATION ACTUATORS IN A NETWORKTOPOLOGY, the entire disclosure of which is hereby expresslyincorporated by reference herein.

1. INTRODUCTION

This inventive disclosure describes multiple inventions and embodimentsof those inventions relating to and building upon SAVANT (“SynchronizedArray of Vibration Actuators in a Network Topology”) architecture.

BACKGROUND OF THE INVENTION

Vibration devices are used in a wide range of applications includinghaptic displays, haptic interfaces, force feedback devices, vibratoryfeeders, beauty products, personal hygiene products, personal pleasureproducts, personal massagers, tree harvesters, and seismic vibrators.Some widely used products that include haptic displays include theDUALSHOCK® 3 wireless controller for Sony Computer Entertainment'sPlayStation® 3; the PlayStation® Move motion controller for motiongaming with Sony Computer Entertainment's PlayStation® 3; MicrosoftCorporation's Xbox 360 Wireless Speed Wheel; and the Wii Remote™ Pluscontroller which is used for motion gaming with the Nintendo Wii.

Vibration actuators are typically the smallest and lowest cost methodfor generating haptic sensations. Therefore, it is advantageous to usevibration actuators to create a wide range of haptic sensations. Commonlow cost vibration actuators include Eccentric Rotating Mass actuators(ERMs) and Linear Resonant Actuators (LRAs). One of the advantages ofboth ERMs and LRAs is that they can generate relatively large vibrationforces from low power input. Both ERMs and LRAs generally build upkinetic energy during their ramp-up period; an ERM does this as thevelocity of its rotating mass increases, and an LRA does this as theamplitude of vibration of its moving mass increases. These low costactuators are used in many applications, including in consumerelectronics products such as smartphones and videogame controllers.

Many smartphones today use either a single ERM or a single LRA toproduce alerts by vibrating the entire device. This has the advantagethat the vibration alert can be felt while the device is inside aperson's pocket. Game controllers (also commonly termed interchangeablyas “videogame controllers” or simply “controllers”) often incorporatetwo ERMs within a two-handed device such as the Xbox 360 WirelessController or the Xbox 360 Wireless Speed Wheel (both devices fromMicrosoft). Sometimes such dual-ERM controllers are configured with oneERM having a large rotating mass and the other ERM having a smallrotating mass. A single-handed controller such as the Wii Remote™ Plus(from Nintendo) will typically have a single ERM to provide vibrationfeedback to the user.

A common limitation of most existing vibration devices is the inabilityto define the directionality of the vibratory forces. ERM actuatorsgenerate centripetal forces that rotate in a plane, and generally thedirection of vibration (that is to say, the instantaneous direction ofthe rotating centripetal force vector) cannot be not sensed in hapticapplications due in part to the high rate of change of the direction ofvibrations. In an ERM a centripetal force is applied onto the eccentricmass by the motor shaft, and an equal and opposite centrifugal force isapplied onto the motor shaft. In this document both the termscentripetal and centrifugal are used with the understanding that theseare equal but opposite forces. LRAs vibrate back and forth, and thus itmay be possible to sense the axis of vibration, but it is not possibleto provide more of a sensation in the forward direction relative to thebackward direction or vice versa. Since haptic applications are oftenintegrated with audio and video displays such as in computer gamingwhere directions are an integral component of the game, it is desirableto provide a haptic sensation that also corresponds to a direction.Moreover, it is be useful to generate haptic cues of directionality forapplications where a person does not have visual cues, such as to guidea vision-impaired person. Therefore, it is desirable to provide ahuman-perceptible indication of directionality in vibratory hapticdisplays and interfaces. In addition, it is advantageous to usevibration actuators to generate a wide range of vibration waveformsincluding both directional and non-directional waveforms.

There have been some haptic vibration devices that provide a sensationof vibration direction, but these prior implementations havedisadvantages. Specifically, asymmetric vibrations have been used togenerate a haptic sensation that is larger in one direction than theopposite direction.

However, existing asymmetric vibrators are complex, costly, or havelimited controllability. They tend to be bulky and have low powerefficiency. Tappeiner et. al. demonstrated a vibration device thatgenerated asymmetric directional haptic cues (Tappeiner, H. W.; Klatzky,R. L.; Unger, B.; Hollis, R., “Good vibrations: Asymmetric vibrationsfor directional haptic cues”, World Haptics 2009, Third Joint EuroHaptics Conference and Symposium on Haptic Interfaces for VirtualEnvironments and Teleoperator Systems), yet this device uses a highpower and an expensive 6-DOF magnetic levitation haptic device. Amemiyaet. al. (Tomohiro Amemiya; Hideyuki Ando; Taro Maeda; “KinestheticIllusion of Being Pulled Sensation Enables Haptic Navigation for BroadSocial Applications, Ch. 21, Advances in Haptics, pp. 403-414”)illustrated a device that also generates asymmetric vibrations forhaptic applications, yet this device uses a complex and large linkagesystem with 6 links and it appears that the direction of vibrationcannot be modified in real-time.

Another limitation of vibration devices that use ERMs is that theamplitude of vibration is dependent on the frequency of vibration, sincethe vibration forces are generated from centripetal acceleration of aneccentric mass. Some prior approaches have used multiple ERMs to controlfrequency and amplitude independently, but in the process also generateundesirable torque effects due to the offset between the ERMs.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a chart illustrating a number of different waveform typessuitable for use with aspects of the present disclosure.

FIG. 2 illustrates a pair of vibration profiles having a phasedifference.

FIG. 3 illustrates a pair of in-phase vibration profiles.

FIG. 4 illustrates a linear motion vibration actuator for use withaspects of the present disclosure.

FIGS. 5A-B illustrate an example of a linear motion vibration actuatorin accordance with aspects of the present disclosure.

FIGS. 6A-B illustrate another example of a linear motion vibrationactuator in accordance with aspects of the present disclosure.

FIGS. 7A-B illustrate a further example of a linear motion vibrationactuator in accordance with aspects of the present disclosure.

FIGS. 8A-B illustrate yet another example of a linear motion vibrationactuator in accordance with aspects of the present disclosure.

FIG. 9 illustrates a further example of a linear motion vibrationactuator in accordance with aspects of the present disclosure.

FIG. 10 illustrates a vibration device in accordance with aspects of thepresent disclosure.

FIG. 11 illustrates the vibration device of FIG. 10 for generating acounterclockwise rotation in accordance with aspects of the presentdisclosure.

FIG. 12 illustrates the vibration device of FIG. 10 for generating aclockwise rotation in accordance with aspects of the present disclosure.

FIG. 13 illustrates the vibration device of FIG. 10 for generating achange in the direction of force in accordance with aspects of thepresent disclosure.

FIG. 14 illustrates a vibration device employing non-orthogonal linearactuators in accordance with aspects of the present disclosure.

FIG. 15 illustrates a vibration device employing a set of linearactuators for generation of a three dimensional force vector inaccordance with aspects of the present disclosure.

FIG. 16 illustrates a game controller in accordance with aspects of thepresent disclosure.

FIG. 17 illustrates a vibration device in accordance with aspects of thepresent disclosure.

FIG. 18 illustrates another vibration device in accordance with aspectsof the present disclosure.

FIG. 19 illustrates a vibration device for generating a combined torquein accordance with aspects of the present disclosure.

FIG. 20 illustrates another vibration device for generating a combinedtorque in accordance with aspects of the present disclosure.

FIG. 21 illustrates a rotary vibration actuator with eccentric mass inaccordance with aspects of the present disclosure.

FIG. 22 illustrates a vibration device with a pair of eccentric massactuators in accordance with aspects of the present disclosure.

FIG. 23 illustrates synchronous vibration of eccentric mass actuators inaccordance with aspects of the present disclosure.

FIGS. 24A-C illustrate a pivoting actuator in accordance with aspects ofthe present disclosure.

FIGS. 25A-C illustrate another pivoting actuator in accordance withaspects of the present disclosure.

FIG. 26 illustrates a pivoting actuator utilizing a pair of springdevices in accordance with aspects of the present disclosure.

FIGS. 27A-F illustrate a further pivoting actuator in accordance withaspects of the present disclosure.

FIG. 28 illustrates a synchronized vibration system employing rotaryactuators in accordance with aspects of the present disclosure.

FIGS. 29A-B illustrate game controllers in accordance with aspects ofthe present disclosure.

FIG. 30 illustrates a rocking actuator in accordance with aspects of thepresent disclosure.

FIG. 31 illustrates a vibration system in accordance with aspects of thepresent disclosure.

FIG. 32 illustrates control of a vibration system in accordance withaspects of the present disclosure.

FIG. 33 illustrates control of a vibration system in accordance withaspects of the present disclosure.

FIG. 34 illustrates control of a vibration system in accordance withaspects of the present disclosure.

FIG. 35 illustrates a vibration system in accordance with aspects of thepresent disclosure.

FIGS. 36A-B illustrate equation parameter and pattern selectionprocessing in accordance with aspects of the present disclosure.

FIG. 37 illustrates a haptic interface system in accordance with aspectsof the present disclosure.

FIG. 38 illustrates another haptic interface system in accordance withaspects of the present disclosure.

FIG. 39 illustrates control of vibration profiles in accordance withaspects of the present disclosure.

FIG. 40 illustrates a vibration actuator in accordance with aspects ofthe present disclosure.

FIG. 41 illustrates another vibration actuator in accordance withaspects of the present disclosure.

FIG. 42 illustrates a vibration device controller in accordance withaspects of the present disclosure.

FIG. 43 illustrates a vibration device with two linear resonantactuators for use with aspects of the disclosure.

FIG. 44 illustrates superposition of two synchronized sine waves with aphase offset that generates a combined waveform with asymmetry accordingto aspects of the disclosure.

FIG. 45 illustrates time steps within a vibration cycle of two linearresonant actuators generating an asymmetric waveform according toaspects of the disclosure.

FIG. 46 illustrates two linear resonant actuators directly attached toone another for use with aspects of the disclosure.

FIG. 47 illustrates an alternative example of two linear resonantactuators attached in line with one another for use with aspects of thedisclosure.

FIG. 48 illustrates a vibration device that uses a slider-crank linkagefor use with aspects of the disclosure.

FIG. 49 illustrates a vibration device with n LRAs for use with aspectsof the disclosure.

FIG. 50 illustrates an asymmetric pulse train according to aspects ofthe disclosure.

FIG. 51 illustrates a pulse train with zero DC according to aspects ofthe disclosure.

FIG. 52 is a flow diagram illustrating a process for maximizingasymmetry according to aspects of the disclosure.

FIG. 53 illustrates an example of waveform asymmetry according toaspects of the disclosure.

FIG. 54 illustrates another example of waveform asymmetry according toaspects of the disclosure.

FIG. 55 illustrates a further example of waveform asymmetry according toaspects of the disclosure.

FIG. 56 illustrates synchronized triangular waveforms according toaspects of the disclosure.

FIG. 57 illustrates a vibration device that can generate asymmetrictorques according to aspects of the disclosure.

FIG. 58 illustrates a controller for General Synchronized Vibration of apair of linear force actuators according to aspects of the disclosure.

FIG. 59 illustrates a linear force actuator with a sensor that detectswhen a moving mass passes a midpoint position according to aspects ofthe disclosure.

FIG. 60 illustrates a sensor attached to a mounting platform accordingto aspects of the disclosure.

FIG. 61 illustrates a vibration device controller that uses sensormeasurements to update a commanded amplitude, phase and/or frequencyaccording to aspects of the disclosure.

FIG. 62 illustrates a vibration device that includes two orthogonal setsof LRAs according to aspects of the disclosure.

FIG. 63 illustrates a vibration device that includes two non-orthogonalsets of LRAs according to aspects of the disclosure.

FIG. 64 illustrates an ERM for use with aspects of the disclosure.

FIG. 65 illustrates a vibration device using an arbitrary number of ERMsaccording to aspects of the disclosure.

FIG. 66 illustrates a vibration device having 4 ERMs for use withaspects of the disclosure.

FIG. 67 illustrates time steps within a vibration cycle of ERMsgenerating an asymmetric waveform according to aspects of thedisclosure.

FIG. 68 illustrates an example vibration device with a plurality of ERMpairs.

FIG. 69 illustrates a vibration device with four vertically stacked ERMsin one example used according to aspects of the disclosure.

FIG. 70 illustrates time steps of an asymmetric waveform for a vibrationdevice with four ERMs that are vertically stacked, according to aspectsof the disclosure.

FIG. 71 illustrates a vibration device with two ERMs that rotate in thesame direction.

FIG. 72 illustrates a vibration device with four co-rotating pairs ofERMs according to aspects of the disclosure.

FIGS. 73A-B illustrate vibration devices with two ERMs mounted indifferent arrangements according to aspects of the disclosure.

FIG. 74 illustrates an eccentric mass configured for use as a reactionwheel according to aspects of the disclosure.

FIG. 75 illustrates an ERM pair with interleaved masses according toaspects of the disclosure.

FIGS. 76A-B illustrate example configurations having three ERMs for usewith aspects of the disclosure.

FIG. 77 illustrates another configuration with three ERMs arranged in arow.

FIG. 78 illustrates an ERM with a sensor for use with aspects of thedisclosure.

FIG. 79 illustrates an ERM with a reflective optical sensor for use withaspects of the disclosure.

FIG. 80 illustrates an ERM with a line of sight sensor for use withaspects of the disclosure.

FIG. 81 illustrates an ERM with a Hall effect sensor for use withaspects of the disclosure.

FIG. 82 illustrates a vibration device with four ERMs arranged in a rowfor use with aspects of the disclosure.

FIG. 83 illustrates time steps of a waveform with cancellation of forcesaccording to aspects of the disclosure.

FIG. 84 illustrates a vibration device with two pairs of ERMs that sharethe same center.

FIGS. 85A-B illustrate an ERM pair with interleaved masses havingvarying thickness according to aspects of the disclosure.

FIGS. 86A-C illustrate an ERM pair with interleaved masses havingsupport bearing according to aspects of the disclosure.

FIG. 87 illustrates haptic feedback within a system having a visualdisplay according to aspects of the disclosure.

FIG. 88 illustrates another example of haptic feedback within a systemhaving a visual display according to aspects of the disclosure.

FIG. 89 illustrates a vibration device with sensor feedback according toaspects of the disclosure.

FIG. 90 illustrates a locomotion device for use with aspects of thedisclosure.

FIG. 91 is a diagram illustrating six dimensions of a Synchronized Arrayof Vibration Actuators in a Network Topology (“SAVANT”) Control Space inaccordance with aspects of the present disclosure.

FIG. 92A illustrates an example of a SAVANT node having a single LRA inaccordance with aspects of the present disclosure.

FIG. 92B illustrates an example of a SAVANT node having two LRAsarranged in a stack in accordance with aspects of the presentdisclosure.

FIG. 92C illustrates an example of a SAVANT node having three LRAsarranged in a stack in accordance with aspects of the presentdisclosure.

FIG. 92D illustrates an example of a SAVANT node having two LRAs in acompact planar arrangement in accordance with aspects of the presentdisclosure.

FIG. 92E illustrates an example of a SAVANT node having three LRAs in acompact planar arrangement in accordance with aspects of the presentdisclosure.

FIG. 92F illustrates an example of a SAVANT node having three LRAs in acompact arrangement with their axes of vibration spanning threedimensions in accordance with aspects of the present disclosure.

FIG. 92G illustrates an example of a SAVANT node having three LRAs in acube arrangement with their axes of vibration spanning three dimensionsin accordance with aspects of the present disclosure.

FIG. 92H illustrates an example of a SAVANT node having six LRAs in acube arrangement with their axes of vibration spanning three dimensionsin accordance with aspects of the present disclosure.

FIG. 92I illustrates an example of a SAVANT node having twelve LRAs in acube arrangement with their axes of vibration spanning three dimensionsin accordance with aspects of the present disclosure.

FIG. 92J illustrates an example of a SAVANT node having four LRAs in atetrahedral arrangement with their axes of vibration spanning threedimensions in accordance with aspects of the present disclosure.

FIG. 93 illustrates an example of a SAVANT node having three LRAs in atriangular planar arrangement in accordance with aspects of the presentdisclosure.

FIG. 94 illustrates an example portable client device incorporating aSAVANT node in accordance with aspects of the present disclosure.

FIG. 95 illustrates another example portable client device incorporatinga plurality of SAVANT nodes in accordance with aspects of the presentdisclosure.

FIG. 96 illustrates an example of a handheld game controllerincorporating one or more SAVANT nodes in accordance with aspects of thepresent disclosure.

FIG. 97 illustrates an h-pulse of a 3-LRA system at an initial point intime in accordance with aspects of the present disclosure.

FIG. 98 illustrates an h-pulse of the 3-LRA system at a second point intime in accordance with aspects of the present disclosure.

FIG. 99 illustrates an h-pulse of the 3-LRA system at a third point intime in accordance with aspects of the present disclosure.

FIG. 100 illustrates an h-pulse of the 3-LRA system at a fourth point intime in accordance with aspects of the present disclosure.

FIG. 101 is a chart of an example oscilloscope trace from themeasurement of the ramp-up of an LRA from rest, when driven with a 150Hz input signal.

FIG. 102 is a graph of a model fitted to 150 Hz LRA data in accordancewith aspects of the present disclosure.

FIG. 103 is a graph of the response times for a 2-LRA system comparedwith a 1-LRA system in accordance with aspects of the presentdisclosure.

FIG. 104 is a graph of the response times for a 3-LRA system comparedwith the 2-LRA and 1-LRA systems in accordance with aspects of thepresent disclosure.

FIG. 105 is a graph of the frequency response curves for various systemsof 150 Hz LRAs in accordance with aspects of the present disclosure.

FIG. 106 represents four snapshot views of the resultant motion for twoorthogonal springs driven with the same amplitude and phase inaccordance with aspects of the present disclosure.

FIG. 107A represents four snapshot views of the resultant motion for twoorthogonal springs driven with the same amplitude but out-of-phase by180° in accordance with aspects of the present disclosure.

FIG. 107B represents four snapshot views of the resultant motion for twoorthogonal springs producing a linear vibrational effect with atime-varying direction in accordance with aspects of the presentdisclosure.

FIG. 108A represents four snapshot views of the resultant motion for twoorthogonal springs driven with the same amplitude but out-of-phase by90° in accordance with aspects of the present disclosure.

FIG. 108B represents four snapshot views of the resultant motion for twoorthogonal springs producing a circular vibrational effect withtime-varying radius in accordance with aspects of the presentdisclosure.

FIG. 109 represents four snapshot views of the resultant motion for twoorthogonal springs driven with different amplitudes and out-of-phase by90° in accordance with aspects of the present disclosure.

FIG. 110A represents four snapshot views of the resultant motion for twoorthogonal springs driven with the different amplitudes and out-of-phaseby 22.5° in accordance with aspects of the present disclosure.

FIG. 110B represents four snapshot views of the resultant motion for twoorthogonal springs producing an elliptical vibrational effect withtime-varying direction and axes in accordance with aspects of thepresent disclosure.

FIG. 111 is a graph of an example Lissajous curve produced by twoorthogonal LRAs in accordance with aspects of the present disclosure.

FIG. 112 is a plot of the beat pattern produced by two parallel LRAsdriven at 175 Hz and 180 Hz respectively in accordance with aspects ofthe present disclosure.

FIG. 113 is a plot of the Sawtooth wave approximation in a 5-LRA system.The amplitudes and driving frequencies of the LRAs are given by theFourier series approximation of f(t)=t in accordance with aspects of thepresent disclosure.

FIG. 114 is a plot of an Asymmetric waveform produced by three 2-LRAsystems driven at the first three harmonics of 22.5 Hz in accordancewith aspects of the present disclosure.

FIG. 115 is a plot of an Asymmetric waveform produced by three 2-LRAsystems driven at the first three harmonics of 4.5 Hz in accordance withaspects of the present disclosure.

FIG. 116 is a plot of an h-pulse control effect for a 3-LRA SAVANT inaccordance with aspects of the present disclosure.

FIG. 117 is a plot of a Scaled h-pulse of a 3-LRA SAVANT in accordancewith aspects of the present disclosure.

FIG. 118 is a plot of an Amplitude Seeking control effect using a 3-LRAsystem in accordance with aspects of the present disclosure.

FIG. 119 is an example of a Vibrational Gradient produced with a 3-LRAsystem in accordance with aspects of the present disclosure.

FIG. 120 is an example of an Elongated h-pulse created by 150 Hz LRAsdriven at 25 Hz in accordance with aspects of the present disclosure.

FIG. 121 is a graph of the response times for 3-LRA, 2-LRA and 1-LRAsystems modeled with a resonant frequency of 175 Hz in accordance withaspects of the present disclosure.

FIG. 122 is a graph illustrating Optimal Braking of a 3-LRA System inaccordance with aspects of the present disclosure.

FIGS. 123A-C illustrate examples of co-rotating ERMs in accordance withaspects of the present disclosure.

FIGS. 123D-F illustrate the effects of parasitic torque in ERMs.

FIGS. 124A-B illustrate examples of parasitic torques based on ERMdistance and contact point distance.

FIGS. 125A-B illustrate interleaved ERMs and the elimination ofparasitic effects in accordance with aspects of the disclosure.

FIGS. 126A-I illustrate a method of manufacturing interleaved ERMs inaccordance with aspects of the disclosure.

FIGS. 127A-C illustrate a game controller device.

FIGS. 128A-B illustrate interleaved ERMs as manufactured with regard toFIGS. 126A-I.

FIGS. 129A and 129B show an embodiment of interleaved ERMs driven byspur gears, in accordance with aspects of the disclosure.

FIGS. 130A and 130B show an embodiment of interleaved ERMs driven bybevel gears, in accordance with aspects of the disclosure.

FIGS. 131-133 illustrate examples of beating patterns for a pair ofco-rotating ERMs with equal eccentricities, in accordance with aspectsof the disclosure.

DETAILED DESCRIPTION

The foregoing aspects, features and advantages of the present disclosurewill be further appreciated when considered with reference to thefollowing description of preferred embodiments and accompanyingdrawings, wherein like reference numerals represent like elements.

As used herein, an actuator is a device that can generate mechanicalmotion or force. Actuators can convert a source of energy intomechanical motion or force. The source of energy can be electrical,pneumatic, hydraulic, or another source. Examples of actuators includerotary and linear motors. Examples of electric actuators include DC, AC,and stepper motors.

The term “direction” includes the orientation of an axis, also referredto as vector direction. A vector aligned with a specific direction canbe either in the positive direction along the axis or the negativedirection along the axis. As used herein, the term direction maydistinguish between all angles in a circle, such as 0 to 360 degrees.And vibration control may distinguish between positive and negativedirections along a single axis. Furthermore, the term “controller” isused herein in some situations to reference to game controller, and inother situations to a real-time controller of actuators, such as amicroprocessor or an ASIC.

I. General Synchronized Vibration

In this disclosure, the term “General Synchronized Vibration” refers tocontrol of the timing, and in some cases also control of amplitude, ofmultiple vibration forces, torques, or forces and torques. The sourcesof these vibration forces and torques can be electromagnetic,electrostatic, magnetic, spring forces, inertial forces such ascentripetal forces, piezoelectric, pneumatic, hydraulic, or other forceand torque sources. The sources of these vibration forces and torquescan include those described in the text “Engineering Haptic Devices: ABeginner's Guide for Engineers” by Thorsten A. Kern, © 2009 (the entiredisclosure of which is hereby expressly incorporated by referenceherein). These vibration forces and torques can be generated fromseparate Vibration Actuators or from actuators that generate multipleforce, torques, or forces and torques. In General Synchronized Vibrationthe forces, torques, or forces and torques are vectorially combined sothat they generate a combined force, torque, or force and torque onto anobject. The vector combination of force and torque vectors is alsoreferred to as superposition. General Synchronized Vibration results ina combined vibration force, a combined vibration torque, or a combinedvibration force and vibration torque onto an object. A force appliedonto an object can also apply a torque onto that object. Accordingly,the references in this document to force also apply to force and torqueunless explicitly described otherwise.

In the event that there is a difference in the usage of terminologybetween the instant application and any wholly included referenceidentified herein, the usage of the differing term definitions will begoverned by the use in the present disclosure.

A vibration (or vibratory) actuator can impart repeated forces onto anobject. These repeated forces can repeat a similar force profile overtime during each repetition. Examples include rotary motors witheccentric masses, and linear actuators which move masses back and forth.These actuators can be DC, AC, stepper, or other types of actuators. Avibration actuator can repeat a similar force profile (waveform) in eachcycle, or there can be variations in force profiles between cycles.Variations between cycles can be in amplitude, frequency, phase, andprofile shape.

When a force is generated in a repeated cycle it can generate avibratory force. The profile (also referred to as a waveform) of arepeated force cycle can be in a sinusoidal shape, triangular wave, asquare wave, or other repeated profile as shown in FIG. 1. The frequencyof vibration describes how frequently a vibration cycle is repeated. Afrequency of vibration, f, is defined as the number of vibrations perunit time, and often is given in Hertz whose units are cycles persecond. The period of vibration, T, is the duration of each cycle inunits of time. The mathematical relationship between frequency andperiod of vibration is given by the following equation:f=1/T  (1)

A vibration force, F, is in a repeated cycle whenF(t+T)=F(t)  (2)where T is the period of vibration and t is time.

For purposes of vibration devices it is sufficient for the period ofvibration to be approximate, and therefore a vibration is considered tobe in a repeated cycle when:F(t+T)≈F(t)  (3)

One vibration waveform is a sinusoidal waveform, where the vibrationforce can be given by:F(t)=A sin(ωt+ϕ)  (4)

Here, F(t) is force as a function of time. A is the maximum amplitude offorce. ω is the frequency of vibration in radians per second (thefrequency in Hertz is f=ω/(2π)). And ϕ is the phase of vibration inradians. When ωt=2π the force profile repeats itself.

A vibration actuator may impart repeated forces onto an object. Due tothe dynamics of an actuator, a single actuator can impart forces atmultiple frequencies at the same time. However, for the purposes ofanalyzing vibrations and describing vibration devices herein, theprimary frequency of an actuator's motion means the frequency having thelargest component of kinetic energy in it.

The period of vibration can be defined by the time elapsed between thebeginning of one vibration cycle and beginning of the next cycle. Thusto identify the period of vibration it is useful to identify thebeginning of a cycle. One method for defining the beginning of cycle isto define the beginning of the cycle as the point with maximum amplitudein the profile. FIG. 1 is an amplitude versus time chart 10 showing thevibration profiles of a sine wave 12, a triangle wave 14, an arbitrarilyshaped profile 16, and a square wave 18. The period for each of theseprofiles is designated by T.

The sine wave 12, triangle wave 14, and arbitrary profile wave 16 allhave a unique point of maximum amplitude during each repeated cycle, andthis point of maximum amplitude is used to define the beginning of thecycle. The square wave 18 does not have a unique point of maximumamplitude within a cycle; in such cases a repeated point on the profilecan be selected to designate the beginning of the cycle. In FIG. 1, thepoint at which the square wave 18 transitions from a low value to a highvalue is designated at the beginning point of the cycle, and used use todefine the period of the repeated profile. Thus, any profile that can berepresented as repeated cycles can represent a vibration.

A frequency of vibration can also be identified when the shape of signaldoes not consist of exactly repeated profiles. Variations in amplitudeof the cycle and small changes in the shape of a cycles profile stillallow one to identify a unique point that designates the beginning ofthe cycle. As long as a repeated point in the profile can be identified,then the beginning of each cycle, a vibration period, and vibrationfrequency can be determined.

The phase of vibration defines the timing of the beginning of a cycle ofvibration. A phase difference between two vibration waveforms is definedas the difference between the beginning of a vibration cycle in onewaveform and the beginning of a vibration cycle in the other waveform.If there is a nonzero difference in the phase of vibration between twoprofiles, then the beginning of the cycles do not coincide in time. FIG.2 is an amplitude versus time chart 20 showing two vibration profiles,22 and 24, with a phase difference A between them. The phase differenceA can be given in units of time, such as shown in FIG. 2. Alternatively,the phase of vibration can also be given in radians for sinusoidalvibrations. When the phase difference A between two waveforms is zero,then the two waveforms are considered to be in-phase, as shown in theamplitude versus time chart 30 of FIG. 3.

As long as it is possible to identify the beginning of a cycle it ispossible to identify a phase of vibration, even when the amplitude andfrequency of vibration change between cycles of vibration.

One implementation of synchronized vibration is a vibration force formedby the superposition of two or more vibration waveforms where each ofthe waveforms include peaks that coincide in time with the peaks of theother waveforms on a regularly repeating basis. In a preferredembodiment, each of the waveforms would have the same frequency and aspecified phase difference between them. Superposition can preferably bethe vector sum of forces, torque, or forces and torque. Typically, thesources of these vibration waveforms are different vibration actuators.Often in synchronous vibration the waveforms have a zero phasedifference between them, and thus the vibration waveforms are in-phaseand in synchronous vibration. As used herein, specified phase differencemay range between and including 0° and 360°. In some embodiments, thespecified phase difference is 0° or 180°. In synchronized vibration, thevarious vibration waveforms can have different amplitudes. FIG. 3illustrates two vibration waveforms of triangular profile that aresynchronized. Both of these waveforms have the same frequency, they havedifferent amplitudes, and the waveforms are in-phase. The maximumamplitude of both waveforms in FIG. 3 occurs at the same time.

Typically, synchronized vibration profiles will have similar shapedprofiles. However, vibration actuators with different shaped vibrationprofiles can also be vibrated synchronously by matching frequency ofvibration and specifying the phase difference between the waveforms. Thematching of phase and frequency of vibration can be done approximatelyand still result in synchronized vibration.

Synchronized vibration can be generated by adding two vibration profilestogether, where the amplitude of the second vibration profile is amultiple of the amplitude of the first vibration profile. Thismultiplying factor can be either positive or negative.

If there are two or more vibrating actuators where the peak amplitude offorce of each vibrating actuator occurs repeatedly at approximately thesame time, then these actuators are in-phase and in synchronousvibration. The peak amplitude of force can be either in the positive ornegative direction of the vibration actuators' or vibration device'scoordinate system. Thus if a positive peak amplitude from one actuatoroccurs at approximately the same time as the negative peak amplitude ofanother actuator, then these actuators are in-phase and are insynchronous vibration.

An exemplary linear motion vibration actuator 100 is shown in FIG. 4. Asshown, the linear motion vibration actuator 100 contains a moving mass102 and a base 104. The moving mass 102 moves relative to the base 104in a back and forth linear motion. Force can be applied from the base104 to the moving mass 102 and in a similar fashion from the moving mass102 onto the base 104. The force transfer can occur, for instance, viamagnetic forces, spring forces, and/or lead screw forces. Examples oflinear actuators suitable for use in accordance with the presentdisclosure are described in U.S. Pat. Nos. 5,136,194 and 6,236,125, andin U.S. patent application Ser. No. 11/325,036, entitled “VibrationDevice,” the entire disclosures of which are hereby incorporated byreference herein.

As the moving mass 102 in the linear motion vibration actuator 100 movesback and forth, forces are generated between the moving mass 102 and thebase 104. These forces can be transmitted through the base 104 of theactuator 100 to an object that the actuator is mounted to (not shown).The moving mass 102 may also be attached to an object, such as a handle(not shown), that is external to the actuator 100, and may transmitforces directly to an object external to the actuator 100.

The forces in the linear motion vibration actuator 100 may be magneticforces, such as with a voice coil. The moving mass 102 may contain, forinstance, a permanent magnet, electromagnet, ferromagnetic material, orany combination of these. The base 104 may contain, for instance, apermanent magnet, an electromagnet, ferromagnetic material, or anycombination of these. Magnetic forces may be generated between base 104and the moving magnet that generate acceleration and motion of themoving mass 104. A force in the linear motion vibration actuator 100generated with an electromagnet can be modulated by controlling thecurrent flowing through the electromagnet.

One embodiment of linear motion vibration actuator 100 in accordancewith the present disclosure is shown in FIGS. 5A-B as linear motionvibration actuator 110. Actuator 110 preferably contains a moving mass112 that comprises an electromagnet, as well as a permanent magnet 116attached to the base 114. The motion of the moving mass 112 is along thex axis as shown in the side view in FIG. 5A. The magnetization polarityof the permanent magnet 116 is along the x axis as shown by the Northand South poles on the permanent magnet 116. The electromagnet ispreferably configured as a coil wound about the x axis. As shown in theend view of FIG. 5B, in the present embodiment the shape of theelectromagnet is desirably cylindrical and the shape of the permanentmagnet 116 is desirably tubular, although the electromagnet and thepermanent magnet 116 may have any other configuration. In thisembodiment both the electromagnet and the permanent magnet 116 may haveferromagnetic material placed adjacent to them to increase the forceoutput of the actuator 110.

In this embodiment, the force in the actuator 110 can be modulated bycontrolling the current in the electromagnet. When the current in theelectromagnet flows in one direction, then the magnetic force will pushthe moving mass 112 towards one side of the actuator. Conversely whenthe current in the electromagnet flows in the other direction, then themoving mass 112 will be pushed to the other side of the actuator 110.Increasing the amount of current in the electromagnet will increase theamount of force applied onto the moving mass 112.

Another embodiment of the linear motion vibration actuator 100 inaccordance with the present disclosure is shown in FIGS. 6A-B. Here,linear motion vibration actuator 120 preferably contains a moving mass122 that comprises a permanent magnet, as well as an electromagnetmagnet 126 attached to base 124. The motion of the moving mass 122 isalong the x axis as shown in the side view in FIG. 6A. The magnetizationpolarity of the permanent magnet is along the x axis as shown by theNorth and South poles on the permanent magnet. The electromagnet 126 ispreferably a coil wound about the x axis. As shown in the end view ofFIG. 6B, in this embodiment the shape of the electromagnet 124 istubular and the shape of the permanent magnet is cylindrical.

In this embodiment both the electromagnet 124 and the permanent magnetof the moving mass 122 may have ferromagnetic material placed adjacentto them to increase the force output of the actuator 120. The force inthe actuator 120 can be modulated by controlling the current in theelectromagnet 124. When the current in the electromagnet 124 flows inone direction, then the magnetic force will push the moving mass 122towards one side of the actuator 120. Conversely when the current in theelectromagnet flows in the other direction, then the moving mass 122will be pushed to the other side of the actuator 120. Increasing theamount of current in the electromagnet will increase the amount of forceapplied onto the moving mass 122.

Another embodiment of the linear motion vibration actuator 100 inaccordance with aspects of the present disclosure is shown in FIGS.7A-B, which is similar to the embodiment shown in FIGS. 6A-B. Here,actuator 130 includes a moving mass 132 and a base 134. The moving mass132 preferably comprises a permanent magnet. An electromagnet 136 atleast partly surrounds the moving mass 132. The electromagnet 136 isdesirably connected to the base 134. Unlike the actuator 120, theactuator 130 in this embodiment preferably includes one or more springs138 that are attached to the base 134 and to the moving magnet 132 ateither end, as shown in the side view of FIG. 7A. The springs 138 areoperable to generate forces in a direction that returns the moving mass132 to a center position, for instance midway between either end of theelectromagnet 136.

The springs 138 function to keep the moving mass 132 close to the centerposition when the actuator power is off, and to provide a restoringforce when the moving mass 132 is at one end of travel of the actuator130. The stiffness of the springs 138 can be selected so that thenatural frequency of the actuator 130 increases the amplitude ofvibration at desired natural frequencies. This spring effect can begenerated from a single spring, from a nonlinear spring, from extensionsprings, as well as compression springs. A number of such springconfigurations which may be employed with the present disclosure aredescribed in the aforementioned U.S. patent application Ser. No.11/325,036.

Another embodiment of the linear motion vibration actuator 100 accordingto aspects of the present disclosure is shown in FIGS. 8A-B. Thisembodiment is similar to the embodiments shown in FIGS. 6A-B and 7-B inthat actuator 140 includes a moving mass 142 including a permanentmagnet, a base 144, and an electromagnet 146 coupled to the base 144 andat least partly surrounding the moving mass 142. The electromagnet 146may be, e.g., rigidly or semi-rigidly coupled such that a vibrationforce is transmitted from the actuator 140 to the base 144, for instanceto enable a user to perceive the vibration force. In this embodiment, apair of permanent magnets 148 is attached to the base and are inoperative relation to the moving magnet 142 at either end as shown inthe side view of FIG. 8A. The permanent magnets 148 have poles, as shownby the N and S in FIG. 8A, which are configured to repel the moving mass142 and to generate forces in a direction that returns the moving mass142 to a center position. The permanent magnets 148 function to keep themoving mass 142 close to a center position when the actuator power isoff, and to provide a restoring force when the moving mass 142 is at oneend of travel of the actuator 140.

The size of the permanent magnets 148 attached to the base 144 can beselected so that the natural frequency of the actuator 140 increases theamplitude of vibration at desired natural frequencies. The actuator 140may be controlled so that one or more natural frequencies are selectedduring different modes or times of operation. Use of repulsive magneticforces as shown in FIG. 8A to generate centering forces on the movingpermanent magnet of the moving mass 142 can provide lower friction thanuse of springs 138 as shown in FIG. 7A, and thus can generate increasedactuator efficiency and smoothness. A number of configurations showinguse of permanent magnets to center a moving mass, which are suitable foruse in the present disclosure, are described in the aforementioned“Vibration Device” patent application.

Alternative embodiments of linear motion vibration actuators that mayalso be utilized with the present disclosure include both springs andmagnets, either alone or in combination, that return a moving masstowards the center of range of motion of the actuator.

A further alternative embodiment of the linear motion vibration actuator100 in accordance with the present disclosure is shown in FIG. 9. Thisembodiment comprises actuator 150, which is similar to a solenoid inthat it has a ferromagnetic moving plunger 152 for moving relative to abase 154. The plunger 152 is pulled into an electromagnetic coil 156when current flows through the coil 156. The coil 156 is coupled to thebase 154. A ferromagnetic end piece 158 can be located within or at theend of the coil 156 to increase the force output of the actuator 150. Aspring device 160 may be positioned opposite the end piece 158. Thespring device 160 is preferably employed to retract the plunger 152 outof the coil 156. As shown in FIG. 9, both an end of the coil 156 and anend of the spring 160 are desirably fixed to the base 154 of theactuator 150. The coil 156 and the spring 160 may be fixed to a singlebase at different sections thereon, or may be fixed to separate baseelements that are coupled together. The current in the coil 156 can beturned on and off to generate a vibration force.

A preferred embodiment of a vibration device 200 according to thepresent disclosure is shown in FIG. 10. In this embodiment, thevibration device 200 preferably includes two linear motion vibrationactuators mounted on to it, namely actuator 202 and actuator 204. Theactuator 202 includes a moving mass 206 and the actuator 204 includes amoving mass 208. The vibration actuators 202, 204 are attached to thevibration device 200 in a manner that transmits the force from thevibration actuators 202, 204 to the vibration device 200. Preferably thevibration device 200 has an enclosure or base (not shown) to which thevibration actuators 202, 204 are connected.

The vibration actuators 202, 204 are desirably attached in a relativelyrigid fashion to the vibration device enclosure or base. Rigidattachment provides a common base to the vibration device 200, uponwhich forces from both vibration actuators 202, 204 are applied. In thisembodiment, the two actuators 202, 204 are mounted at approximatelyright angles to each other. The force generated by actuator 202 is shownas force vector F1, and the force vector from actuator 204 is shown asF2. As expressed herein, vectors and matrices are designated by boldfont and scalars are designated without bolding. The combined forcegenerated by the vibration device 200 is the vector sum of the vibrationforces from both of the actuators 202, 204, and is shown in FIG. 10 asvector Fcombined.

The combined force, Fcombined, applied by the vibration actuators 202and 204 onto the vibration device 200 is a superposition of thevibration forces from each actuator, and is a function of time, t. Theforce vector can Fcombined(t) is given by the vector equation:F _(combined)(t=F ₁(t)F ₂(t)   (5)where F₁(t) is the force vector from actuator 202 as a function of time,and F₂(t) is the force vector from actuator 204 as a function of time.

Both actuators 202, 204 can be operated in a vibratory fashion. For thecase of a sine wave vibration, the actuator forces can be given by:F ₁(t)=a ₁ A ₁ sin(ω₁ t+ϕ ₁)   (6)andF ₂(t)=a ₂ A ₂ sin(ω₂ t+ϕ ₂)   (7)respectively, where A₁ and A₂ are the respective amplitudes ofvibration, a₁ and a₂ are the unit vectors corresponding to therespective directions of vibration, ω₁ and ω₂ are the respectivefrequencies of vibration, ϕ₁ and ϕ₂ are the respective phase angles, andt is time. Other profile vibrations including square waves, trianglewaves, and other profiles can also be implemented with each actuator.

In the example shown in FIG. 10, actuator 202 is aligned with the yaxis, and thus the unit vector a₁ is represented by:

$\begin{matrix}{a_{1} = \begin{bmatrix}0 \\1\end{bmatrix}} & (8)\end{matrix}$and the unit vector a₂ aligned with the x axis and is represented by:

$\begin{matrix}{a_{2} = \begin{bmatrix}1 \\0\end{bmatrix}} & (9)\end{matrix}$The combined force vector, F_(combined), is given by the superpositionof forces form the actuators 202 and 204, and thus is given by:F _(combined)(t)=a ₁ A ₁ sin(ω₁ t+ϕ ₁)+a ₂ A ₂ sin(ω₂ t+ϕ ₂)  (10)

It is possible to vibrate actuators 202 and 204 shown in FIG. 10 in amanner that is in-phase and in synchronous vibration. Under suchvibration, there will be a single vibration frequency, ω and a singlephase ϕ Accordingly, F_(combined) can be given by:F _(combined)(t)[a ₁ A ₁ +a ₂ A ₂] sin(ωt+ϕ)   (11)

With such in-phase and synchronous vibration the vibration issynchronized, then the peak forces from both linear motion vibrationactuators will occur at the same instances during each cycle ofvibration. The net direction of vibration force is the vectorcombination of [a₁A₁+a₂A₂]. Thus, in synchronized vibration and in-phasevibration, the vibration device generates a vibration force at aspecified frequency in a specified direction that results from thevector combination of forces from the direction and magnitude of each ofthe actuators in the device. It is possible to control the magnitude ofvibration in each linear motion vibration actuator, and thereby controlthe net direction of vibration of F_(combined).

In a preferred example, the vibration frequency, ω, phase ϕ, andwaveform of each actuator are substantially identical. For instance, ω₂may be set to be substantially equal to ω₁ and ϕ₂ may be set to besubstantially equal to ϕ₁. By way of example only, ω₂ may be set towithin 10% of the value of ω₁, more preferably to within 5% of the valueof ω₁. Similarly, by way of example only, ϕ₂ may be set to within 10% ofthe value of ω₁, more preferably to within 5% of the value of ϕ₁. Inanother example, the frequencies and/or phases may be set exactly equalto one another. Alternatively, the frequencies, phases, and/or waveformsof each actuator may be set so that a user would not be able to noticethe difference in frequency, phase or waveform. In a furtheralternative, if the vibration device is used in a haptic application togenerate force sensations on the user, small variations may occur whichmay not be detected by the user or which cannot be significantly felt bythe user. In other instances, force sensations in a haptic applicationor in a vibratory feeder application may vary minutely so that userperformance in the haptic application or performance of the vibratoryfeeder is not significantly changed.

It is also possible to apply equation 11 to a vibration profile/waveformof arbitrary shape. Here, waveform p(t) may be used to represent thewaveform shape over time t. A period of vibration may be represented byp(t)=p(t+nT), where n=1, 2, 3, etc. and T is the period of vibration. Inthis case, an arbitrarily shaped synchronized vibration profile may berepresented as:F _(combined)=[a ₁(t)A ₁(t)+a ₂(t)A ₂(t)]p(t)  (11.1)When the direction of vibration force for each actuator is substantiallyconstant relative to a base member, the arbitrarily shaped synchronizedvibration profile may be represented as:F _(combined)=[a ₁ A ₁(t)+a ₂ A ₂(t)]p(t)  (11.2)

To illustrate how the direction of F_(combined) can be controlled, thepeak magnitudes, A₁ and A₂, are represented in FIGS. 10 and 11 by thelocation of the moving masses 206 and 208 within each of the actuators202 and 204, respectively. In FIG. 10, both actuator 202 and actuator204 are desirably vibrated at the same amplitude, and the correspondingF_(combined) is at approximately a 45 degree angle between the actuators202, 204.

By varying the magnitude of the vibration force in the actuators 202,204, it becomes possible to control the direction of vibration of thecombined force effect. In FIG. 11, the actuator 202 is vibrating at peakamplitude as illustrated by the peak position of moving mass 206 at theend of travel limits of actuator 202. However, actuator 204 is vibratingat a lower peak amplitude, as illustrated by the peak position of movingmass 208 closer to the middle of travel limits of actuator 204. Thelower peak force is also illustrated in FIG. 11 by the shorter lengthvector for F₂. The direction of the combined force, F_(combined), is theresult of vector addition of F₁ and F₂, and for vibrations illustratedin FIG. 11 is rotated counterclockwise relative to the direction shownin FIG. 10.

In a similar fashion, the direction of combined force can be rotated inthe clockwise direction as shown in FIG. 12. The vibration caseillustrated in FIG. 12 shows the peak amplitude of vibration of actuator202 reduced relative to that shown in FIG. 10, while the peak amplitudeof actuator 204 remains high. In this case, the vector addition of F₁and F₂ results in a clockwise rotation of F_(combined) in FIG. 12relative to the direction shown in FIG. 10.

It is also possible to change the direction of F_(combined) to anadjacent quadrant. As shown in FIG. 13, the sign of the F₂ has changedbe in the direction of the negative x axis, relative to the positive xdirection that shown in FIG. 10. The change in sign of F₂ can beachieved by changing the sign of A₂ in equation 11 above. It should benoted that one could achieve a similar representation of the combinedforce equation by defining actuator 204 vibration as at 180 degrees outof phase of actuator 202. However, changing the sign on the actuatorsvibration amplitude maintains the form of equation of synchronousvibration shown in equation 11. Thus, vibration that can be representedas 180 degrees out of phase can also be represented as in-phasevibration but with a negative amplitude of vibration.

An alternative embodiment of a vibration device in accordance with thepresent disclosure is shown in FIG. 14. Here, vibration device 210includes a first actuator 212 and a second actuator 214, havingrespective moving masses 216 and 218. FIG. 14 represents a twodimensional embodiment where two linear motion vibration actuators 212,214 are aligned with an xy plane. In this embodiment, it is notnecessary for the actuators 212, 214 to be orthogonal to each other. A1and A2 are respectively the amplitudes of vibration of actuators 212 and214, while a1 and a2 are respectively the unit vectors specifying thedirection of vibration of actuators 212 and 214.

The unit vector a₁ is given by:

$\begin{matrix}{a_{1} = \begin{bmatrix}{\cos(\alpha)} \\{\sin(\alpha)}\end{bmatrix}} & (12)\end{matrix}$where the angle α describes the orientation of actuator 1 relative tothe x axis as shown in FIG. 14. The unit vector a₂ is given by:

$\begin{matrix}{a_{2} = \begin{bmatrix}{\cos(\beta)} \\{\sin(\beta)}\end{bmatrix}} & (13)\end{matrix}$where the angle β describes the orientation of actuator 2 relative tothe x axis as shown in FIG. 14.

For a given vibration waveform the maximum magnitude of force vectors,F_(1,max) and F_(2,max), from actuators 212 and 214 in FIG. 14 can begiven by equations:F _(1,max) =A ₁ a ₁  (14)F _(2,max) =A ₂ a ₂  (15)

When actuators 212 and 214 are vibrated synchronously and in-phase (e.g.with the same frequency and with zero phase difference), then themaximum force amplitude occurs at the same time. Thus the maximumcombined force vector, F_(combined,max), is given though superpositionof the force vectors, and is given by:F _(combined,max) =F _(1,max) +F _(2,max)  (16)

A matrix of actuator directions, D_(L), can be created where each of itscolumns is a unit vector that corresponds to the direction of vibrationof a linear motion vibration actuator in a vibration device. For avibration device with two linear motion vibration actuators, such as theone shown in FIG. 14, the matrix D_(L) is given by:D _(L)=[a ₁ |a ₂]   (17)where a₁ and a₂ are column vectors.

A matrix representation of the combined force is given by:

$\begin{matrix}{F_{{combined},\max} = {D_{L}\begin{bmatrix}A_{1} \\A_{2}\end{bmatrix}}} & (18)\end{matrix}$

where A₁ and A₂ are scalars. For the case of vibration in a plane, thevectors a₁ and a₂ will be 2×1 vectors and the matrix D_(L) will be 2×2.

When the direction matrix, D_(L), is invertible then the amplitude ofvibration in the individual actuators that corresponds to a desiredcombined force vector, F_(combined), is given by:

$\begin{matrix}{\begin{bmatrix}A_{1} \\A_{2}\end{bmatrix} = {D^{- 1}{Fcombined}}} & (19)\end{matrix}$

When the actuators are aligned orthogonally, then the direction matrix,D_(L), is orthonormal and its inverse is given by its transpose as shownbelow:D ⁻¹ =D ^(T)   (20)

When the direction matrix, D_(L), in not invertible because there aremore vibration actuators than directions of force being controlled, thena pseudo inverse of matrix D_(L) can be used. For example, if there are3 vibration actuators in the xy plane, and the control objective is onlyto control a two dimensional force, the D_(L) matrix is given by:D _(L)=[a ₁ |a ₂ |a ₃]   (21)where a₁, a₂, and a₃ are 2×1 column vectors.

The pseudo inverse is described in “Introduction to Linear Algebra”, 3rdEdition by Gilbert Strang, published in 2003 by Wellesley-CambridgePress, the entire disclosure of which is incorporated by referenceherein.

One method for calculating a pseudo inverse, D_(L) ⁺, is given by:D _(L) ⁺ =D _(L) ^(T)(D _(L) D _(L) ^(T))⁻¹   (22)

In such a case the amplitude of vibration for each actuator can be givenby:

$\begin{matrix}{\begin{bmatrix}A_{1} \\A_{2} \\A_{3}\end{bmatrix} = {D_{L}^{+}{Fcombined}}} & (23)\end{matrix}$

It is possible to specify the combined force vector, F_(combined), interms of a direction of vibration and amplitude. For a two dimensionalembodiment the combined amplitude of vibration can be specified by thescalar A_(combined), and the direction of vibration can be specified byan angle, theta, as shown in FIG. 14. In this two dimensional embodimentF_(combined) can be given by:

$\begin{matrix}{F_{combined} = {A_{combined}\begin{bmatrix}{\cos({theta})} \\{\sin({theta})}\end{bmatrix}}} & (24)\end{matrix}$

Thus, it can be seen that the amplitudes of vibration, A1 and A2, can berepresented in terms of the direction of vibration, theta, combinedamplitude of vibration, A_(combined), and direction matrix, D_(L), asgiven by:

$\begin{matrix}{\begin{bmatrix}A_{1} \\A_{2}\end{bmatrix} = {D_{L}^{- 1}{{Acombined}\begin{bmatrix}{\cos({theta})} \\{\sin({theta})}\end{bmatrix}}}} & (25)\end{matrix}$

Equation 25 provides the scalar magnitude of A₁ and A₂. When the sign ofA₁ is different than the sign of A₂ then vibration waveform can begenerated directly using the results of Eq. Avec. Alternatively, thewaveform can be generated using absolute values of A₁ and A₂ but withone waveform completely out of phase with the other waveform. A sinewave is defined to be completely out of phase when it is 180 degrees outof phase. General waveforms are defined to be completely out of phasewhen the maximum positive amplitude of vibration of one waveformconcedes with the maximum negative amplitude of the other waveform. Adepiction of two actuators vibrating completely out of phase is shown inFIG. 13. Two actuators vibrating completely out of phase are alsoconsidered to be in synchronized vibration.

It is also possible to specify the combined direction of vibration interms of a unit vector, a_(combined), as shown in FIG. 14. The vectorF_(combined) can be given by:F _(combined) =A _(combined) ×a _(combined)   (26)

Another configuration according to aspects of the present disclosure isa three dimensional configuration, where there are at least 3 linearmotion vibration actuators as shown in FIG. 15.

In the vibration device 220 of FIG. 15, actuators 222, 224 and 226 eachinclude a moving mass 228, 230 and 232, respectively. The actuators 222,224 and 226 are preferably orthogonal to each other and aligned with anxyz coordinate system. In an alternative three dimensional embodimentthe actuators are not necessarily orthogonal to each other; yet theforce vectors of the actuators span the three dimensional vector space.With such an alternative, an arbitrary direction of three dimensionalforce can be generated. In the three dimensional cases, the combineddirection of vibration can be specified by the 3×1 unit vector,a_(combined). The three dimensional combined force can be given by thesame equations for the 2 dimensional case, as shown belowF _(combined) =A _(combined) ×a _(combined)   (27)where a_(combined) and F_(combined) are 3 dimensional vectors.

Vibration devices according to the present disclosure may include anarbitrary number of actuators in arbitrary locations and orientations.

FIG. 16 illustrates a vibration device 240 having a pair of actuators242 and 244. The actuators 242 and 244 include moving masses 246 and248, respectively. In this embodiment, vibration device housing 250 isconfigured as a hand held game controller for computer or video games.Linear motion vibration actuator 242 is shown as being located in theleft handle and linear motion vibration actuator 244 is shown as beinglocated in the right handle. The actuators 242 and 244 need not beorthogonal, and need not be in the same plane.

Another alternative embodiment of a vibration device according to thepresent disclosure is shown in FIG. 17, where vibration device 260includes a first linear motion vibration actuator 262 and a secondlinear motion vibration actuator 264. As shown, the actuators 262, 264are located on top of each other. An advantage of such a configurationis that the actuators 262, 264 create little torque about the center ofthe vibration device 260, which may be desirable in some vibrationapplications.

In a variation of FIG. 17, FIG. 18 illustrates a game controller 270having two linear actuators, 272 and 274 disposed perpendicular to eachother. The actuators 272 and 274 are preferably rigidly mounted to case276 of a game controller. The actuators 272 and 274 could be mounted ina plane of any angle; however, they are preferably mounted in ahorizontal plane of the case 276. The actuators 272 and 274 do not haveto be located one on top of the other; rather they can be attached tothe same rigid body, such as the case 276 of a game controller. Ofcourse, one could attach three or more linear actuators to the case 276,preferably at right angles to each other to create force vectors thanspan the three dimensional space of the case 276. Moreover, theactuators do not have to be at right angles to each other. Desirably,the actuators are positioned relative to one another with differentorientations.

A further embodiment of a vibration device according to the presentdisclosure is shown in FIG. 19. Here, vibration device 280 includes twolinear motion vibration actuators, 282 and 284, which are aligned intheir orientation but separated by a distance D. Actuator 282 includesmoving mass 286 and actuator 284 includes moving mass 288. The actuators282, 284 may be vibrated such that the moving mass 286 in actuator 282is at a negative extreme along the y axis when the moving mass 288 inactuator 284 has a positive extreme along the y axis. In this fashionthe two actuators 282, 284 generate a combined torque when vibrated in asynchronous fashion. The embodiment shown in FIG. 19 could be operated,in one example, such that the moving masses 286 and 288 move in the samedirection when synchronized, and thereby generate a combined force alongthe y axis. In this fashion the configuration shown in FIG. 19 could beused to generate a combined torque, a combined force, or a combinationof force and torque.

An alternative embodiment of a vibration device 290 in accordance withaspects of the present disclosure is shown in FIG. 20. Here, threelinear motion vibration actuators 292, 294 and 296, each having a movingmass, are orientated on an xy plane. In this embodiment it is possibleto generate a combined force and a combined torque. It is also possibleto independently control the combine force and torque by modulating theamplitude of vibration in each of the actuators 292, 294 and 296. Thecombined torque and force are superpositions of the forces and torquesgenerated by each actuator. Since there are three actuators that can becontrolled independently, the components of the force along the x axis,the force along the y axis, and the torque about a selected point on thexy plane can all be modulated independently.

In the vibration device embodiments described herein the vibrationactuators may be attached to the vibration device in a rigid, asemi-rigid or a non-rigid fashion. Even when vibration actuators areattached in a non-rigid fashion to a vibration device, the vibrationdevice is operable to transmit the superposition of forces from allvibration actuators. When vibration actuators are attached in a rigidfashion to a vibration device, the combined force applied by thevibration device becomes less dependent on the location where thevibration device transmits force and torques to other bodies. Inaddition, the more rigid the attachment between the vibration actuatorsand the vibration device, the more uniform the timing of the forcesuperposition becomes at all points of the vibration device.

In an example, it is possible to attach the actuators directly onto aperson's hand and body, for instance as shown in U.S. Pat. Nos.6,275,213 and 6,424,333. In uses of the present disclosure whereactuators are directly attached or indirectly coupled to the hand orbody, the vibration force from each actuator may be felt directly atdifferent locations on the body, yet a synchronized combined forcevector can still be applied onto the body by synchronizing the operationof the actuators.

Vibration devices in accordance with the present disclosure can be builtwith rotary vibration actuators as well as with linear motion vibrationactuators. In some cases the cost to manufacture rotary vibrationactuators is less than the cost to manufacture linear motion vibrationactuators. Thus, if cost is a factor, it may be desirable to utilizerotary vibration actuators in place of or in combination with linearmotion vibration actuators. However, in order to generate synchronizedvibration with rotary vibration actuators, it is necessary to controlthe rotary position of the actuators along with the rotary velocity.

A rotary vibration actuator may comprise, for example, a DC motor, arotary solenoid, a rotary stepper motor, a servo motor, or other type ofrotary actuator. One advantage of rotary actuators is their relativelylow cost. The servo motor uses a position sensor and/or a velocitysensor for feedback. In some situations the rotary stepper motor may bemore desirable because it allows for control of position and velocitywithout the use of a sensor.

FIG. 21 shows a rotary vibration actuator 300 suitable for use with thepresent disclosure. The actuator 300 includes an eccentric mass 302coupled to a rotary actuator 304 along a shaft 306. As the rotaryactuator 304 is rotated, a centrifugal force is generated in the radialdirection aligned with the eccentric mass 302 as shown by the vector CFin FIG. 21.

Many existing vibrators utilize rotary vibration actuators witheccentric masses, but not with synchronized vibration. In accordancewith the present disclosure, a pair of rotary vibration actuators can beconfigured to achieve a vibration force that is aligned with a singledirection of motion. Accordingly, a pair of such rotary actuators can beused when a vibration force in a specified direction is required.

For instance, a vibration device according to the present disclosure canbe built, by way of example only, with two rotary vibration actuatorsthat rotate in opposite directions, as shown in FIG. 22. As shown, thevibration device 310 includes a pair of rotary vibration actuators 312and 314, each having an eccentric mass 316 and 318, respectively.Actuator 312 preferably rotates clockwise, and actuator 314 preferablyrotates counterclockwise. In the orientation shown the centrifugal forcevectors from both actuators are aligned with the y axis and superimposeto create a combined force vector, CVF, in the y direction.

With rotary vibration actuators it is possible to create synchronizedvibration in an analogous fashion to the synchronized vibrationdescribed with linear motion vibration actuators. With rotary vibratingactuators, synchronized vibration is defined to occur where two rotaryactuators rotate in approximately the same plane at the same angularvelocity in opposite directions, and where the relative angle betweenthe actuators is controlled, such that the actuator centrifugal forcevectors align repeatedly in the direction of desired vibration force.

The direction of vibration force can be controlled with a pair of rotary(or rocking) vibration actuators by controlling the angle at which thecentrifugal force vectors become aligned. Therefore, it is possible tocontrol the direction of combined force with rotary actuators in afashion analogous to how the direction of combined force can becontrolled with multiple linear vibration actuators.

FIG. 23 shows the embodiment of two rotary vibration actuators asdescribed with respect to FIG. 22, wherein the actuators are controlledin synchronized vibration for a number of positions. As shown in FIG.23, the combined force vector, CFV, remains in the y axis, and itsmagnitude changes according to the rotary position of the actuators. Themaximum combined force vector occurs when the centrifugal force fromboth rotary actuators are aligned.

An alternative type of rotary actuator suitable for use with the presentdisclosure is a rotary actuator with a pivoting mass. FIGS. 24A-Cillustrate respective front, side and bottom views of an exemplarypivoting actuator 400, which includes a mass 402 operable to pivotrelative to a rotary actuator 404. The mass 402 is connected to therotary actuator 404 via a shaft 406. The center of mass of the mass 402can be located anywhere on the body of the mass 402. Thus, the center ofmass may be concentric with the axis of rotation, or eccentric to theaxis of rotation. The pivoting actuator 400 may be configured tofunction in a manner similar to the rotary vibration actuators discussedabove.

As seen in FIGS. 25A-C, the rotary actuator 404 may be affixed to asupport 408, which, in turn, may connect to another object (not shown).Preferably a spring device 410 couples the pivoting mass 402 to asupport 412, which may be the same or a different support than thesupport 408. FIG. 25A illustrates the pivoting actuator 400 when thespring device 410 is in a rest state when the pivoting mass 402 is in acentral position.

The mass 402 may pivot in either a clockwise or counterclockwise manner.FIG. 25B illustrates counterclockwise operation. Here, the spring device410 is in a compressed state. In the present embodiment as shown, thespring device 410 is under a compression force that is primarily linearand is applied toward the right hand side of the figure. FIG. 25Cillustrates clockwise operation of the mass 402. Here, the spring device410 is in an uncompressed state in response to a force that is primarilylinear and is applied toward the left hand side of the figure.

Vibration forces and/or torques can be generated with the pivotingactuator 400 as shown in FIGS. 25A-C. The pivoting actuator 400 can beactivated to pivot the pivoting mass 402 first clockwise and thencounterclockwise, or vice versa. As the pivoting mass 402 rocks back andforth, the spring device 410 generates a vibration force, a torque, orboth a vibration force and torque onto the object to which it is affixedvia the support 408. In this fashion, if the pivoting mass 402 has acenter of mass concentric with the axis of rotation, the pivoting mass402 can be used to generate a vibration torque. Also in this fashion, ifthe pivoting mass 402 has a center of mass eccentric with the axis ofrotation, the pivoting mass 402 can be used to generate a vibrationforce.

Vibration forces and/or torques can be generated by moving a mass backand forth. It is possible to define the beginning of a vibrationwaveform as an instance at which a mass reverses its direction ofmotion. For linear actuators, the reversal of direction is a reversal oftranslation. For rotary actuators, the reversal of direction is areversal of rotation. In general, the reversal of motion of a mass in anactuator may include both translation and rotation.

In actuators having a spring device attached to a moving mass, energycan be built up in the spring device, especially when the mass is movedback and forth close to a natural frequency of the mass and springsystem. In such cases, the maximum vibration force can occur at themaximum deformation of the spring device, which can occur when the massreaches its maximum excursion and reverses its direction. Accordingly,moving masses in two (or more) actuators that are operating insynchronized vibration, can reverse direction at approximately the sametime.

An alternative method for generating vibration would be to operate thepivoting actuator 400 in a clockwise (or counterclockwise) direction andthen deactivate the pivoting actuator 400 while allowing the springdevice 410 to rotate the pivoting mass 402 in the counterclockwise (orclockwise) direction. This approach would allow one to use pivotingactuators and control circuitry that only operates in a singledirection.

FIG. 26 illustrates a variation of the pivoting actuator 400, namelypivoting actuator 400′, which desirably includes the pivoting mass 402operable to pivot relative to the rotary actuator 404, and which isconnected thereto via the shaft 406. As above, the rotary actuator 404may be affixed to the support 408, which, in turn, may connect toanother object (not shown). Preferably a first spring device 410 acouples the pivoting mass 402 to a first support 412 a, and a secondspring device 410 b also couples the pivoting mass 402 to a secondsupport 412 b. The supports 412 a and 412 b may be a single support,separate supports that are physically connected, or physicallydisconnected supports. One or both of the supports 412 a,b may be thesame or a different support than the support 408.

One type of pivoting actuator 400 that could be employed is a DC motor.However, not all the components of the DC motor are necessary for thisapplication, because the output shaft does not rotate continuously.Accordingly it is not necessary to have motor brushes, which can reducecost as well as electrical power losses and frictional losses. In apreferred example, the pivoting actuator 400 may essentially include astator and a rotor. The stator may be stationary and desirably containspermanent magnets and/or electromagnets. The rotor is operable to pivotand can contain permanent magnets and/or electromagnets. The polarity ofthe magnets in the stator and rotor can be configured so that activationof the electromagnets causes an electromagnetic torque to be exertedonto the rotating mass 402.

In the embodiment of FIGS. 25A-C, the spring device 410 is configured tooperate in a generally linear fashion. However, In order to generatelarge magnitude of vibration forces with small actuators, it can beadvantageous to utilize the resonance of a system. The embodiments shownin FIGS. 25A-C have both a mass and a spring, and thus have a resonantfrequency. If the actuator is excited at or close to this resonantfrequency large amplitude vibrations can build up. However, it can bedesirable to operate the vibration device at a range of frequencies. Itis possible for a device to have a variable resonant frequency with useof nonlinear spring forces, as discussed in the aforementioned“Vibration Device” patent application. Accordingly, one could use anonlinear spring in the vibration device to achieve larger amplitude ofvibration over a range of frequencies.

It is possible to generate nonlinear spring force, even with use of alinear spring element. Consider the embodiment shown in FIG. 27A. Here,pivoting actuator 420 has a mass 422 operable to pivot relative to arotary actuator 424. The mass 422 is connected to the rotary actuator424 via a shaft 426. The rotary actuator 424 may be affixed to a support427, which, in turn, may connect to another object (not shown).Preferably a spring device 428 couples the pivoting mass 422 to asupport 427′, which may be the same or a different support than thesupport 427.

As shown in FIG. 27A, the spring device 428 is desirably placed in-linewith the pivoting mass axis. When the pivoting mass 422 is rotated asmall amount about the center position very little lengthening occurs inthe spring device 428. Accordingly, the effective spring constant is lowand the resonant frequency is low.

Low frequency operation is desirable in some situations, for instance ingames that have low frequency effects. For instance, games may generateactions or events in the sub-200 Hertz range, such as between 15 and 150Hertz. In certain cases the actions or events may be as low as 20-50Hertz or lower, such as about 10-20 Hertz. Examples of suchactions/events include gunshots, automobile related sounds such as a carspinning out of control, and helicopter related sounds such as thewhirring of the rotor blades. Eccentric mass actuators may not besuitable to generate a haptic sensation in this frequency range, butpivoting actuators or linear actuators may generate such frequencies.

As the magnitude of rotation of the pivoting mass 422 increases, thelengthening of the spring device 428 increases as shown in FIGS. 27B and27C. Accordingly, for larger amplitudes of rotation, the effectivespring constant is higher and the natural frequency of the system ishigher. In order to quickly ramp up the vibration amplitude when anonlinear spring force is used, the excitation frequency can be variedso that it always matches the natural frequency of the vibration device.

FIG. 27D illustrates a rotating actuator 430 having a rotating mass 432coupled to rotary actuator 434 via shaft 436. The rotary actuator 434 isdesirably coupled to a support 437, which, in turn, may connect toanother object (not shown). In this alternative, a spring device such asa torsion spring 438 is attached between the rotating mass 432 and therotary actuator 434. As shown, one end or tang 439 a of the torsionspring 438 is attached to the rotating mass 432, and the other end ortang 439 b is attached to the support 437 (or, alternatively, to therotary actuator 434 itself). Torsion spring 438 may be employed becausesuch spring devices permit a large degree of rotation of the rotatingmass 432 relative to the rotary actuator 434 and the support 437.

FIGS. 27E and 27F illustrate a further rotating actuator, namelyrotating actuator 440. The rotating actuator 440 includes a rotatingmass 442 having a slot 443 therein, a rotary actuator 444, and a shaft446 coupling the rotating mass 442 to the rotary actuator 444. Therotary actuator 444 is desirably coupled to a support 447, which, inturn, may connect to another object (not shown). In this embodiment apin 445 is held within the slot 443. A spring device 448 is coupled atone end or tang 449 a to the pin 445. The spring device 448 is coupledat the other end or tang 449 b to a support 447′. The support 447′ ispreferably different from the support 447, or, alternatively, ispreferably a different section of the support 447 from where the rotaryactuator is coupled.

FIG. 27E shows the spring device 448 in a “rest” position. FIG. 27Fshows the spring device 448 in a “compressed” position. Here, by way ofexample only, the rotating mass 442 may be rotating in a clockwisedirection. As the rotating mass 442 rotates, the pin 445 moves relativeto the slot 443, but the spring device 448 remains in substantially thesame orientation relative to the support 447′. In this fashion, theforce applied onto the fixed 447′ remains in relatively the samedirection as the moving mass 442 rotates. It is possible to incorporatea gap between the slot 443 and the pin 445 that would allow for somerotation of the shaft 446 before the spring device 448 is extended orcompressed from its rest position. The gap would create a non-linearforce effect on the rotating mass 442, which could aid in increasing themagnitude of vibration. The gap would allow the shaft 446 to morequickly reach higher speeds and for the rotating actuator 440 to morequickly build up rotating inertia.

While several types of actuators have been described above that may beused with the present disclosure, other types of actuators may also beemployed so long as they can be controlled as described herein. Forinstance, piezoelectric devices without separate or distinct “moving”and “stationary” masses may be employed either alone or in combinationwith other actuator types to impart vibratory forces in the mannersdescribed herein.

FIG. 28 illustrates a synchronized vibration system 450, which maycomprise two vibration devices 452 and 454, such as any of those ofFIGS. 24A-C, 25A-C, 26 and/or 27A-F. Of course, more that two vibrationdevices may be provided. The vibration devices 452 and 454 arepreferably mounted onto a base plate 456 in a generally orthogonalmanner as shown, although orthogonality is not required. The vibrationdevice 452 is preferably a horizontal vibrator that desirably has aspring device 458 which applies primarily horizontal forces onto thebase plate 456. The vibration device 454 is preferably a verticalvibrator that desirably has a spring device 460 that applies primarilyvertical forces onto the base plate 456. As long as the directions ofthe vibration forces of the different vibration devices are not aligned,it is possible to control the combined direction of vibration using thesynchronized vibration methods as described herein as well as in theaforementioned “Vibration Device” patent application.

An alternative embodiment of the present disclosure includes two rotaryvibration actuators whose planes of vibration are not the same; however,in this case the two planes are not orthogonal to each other. In thisembodiment, the component of centrifugal force from one actuator thatcan be projected onto the plane of the other actuator can be used toachieve a component of synchronous vibration.

In one example, two or more vibration devices may be mounted devicesinto a game controller, as shown in FIG. 29A. Here, a game controller470 includes a pair of vibration devices 472 and 474 mounted in both theright and left handles, respectively, of housing 476. The directions ofvibration of the vibration devices 472 and 474 are preferably notaligned, and thus it is possible to control the direction of vibrationusing the synchronized vibration approach discussed herein.

There are many orientations of both the rotary actuators and springsthat can be used to achieve an embodiment where synchronized vibrationis possible. For instance, the axis of rotation of both actuators can bealigned while the spring direction can vary, allowing an alternativeconfiguration for synchronized vibration. FIG. 29B illustrates a gamecontroller 480 having a pair of vibration devices 482 and 484 within ahousing 486 where the axes of the rotating shafts in both rotaryactuators are aligned, yet the spring forces are not aligned.

FIG. 30 illustrates yet another variation similar to the rotary andpivoting vibration devices. Here, a rocking actuator 490 preferablyincludes a rocking weight 492 rotatable about a shaft 494. Desirably,one end of the rocking weight 492 is operatively coupled via a firstspring device 496 a to a first support 498 a. The same end of therocking weight 492 is also desirably operatively coupled via a secondspring device 496 b to a second support 498 b. The supports 498 a and498 b may be a single support, separate supports that are physicallyconnected, or physically disconnected supports. The rocking actuator 490may be implemented in a device such as a game controller in any of theconfiguration described above.

A controller for synchronized vibration of a pair of rotary vibrationactuators specifies the angular position of each rotating shaft, suchthat the angle where the centrifugal force vectors are aligned is thedesired direction of force vibration and the angular position isincremented such that the rotational velocity matches the desiredvibration frequency.

A system 500 having a controller for one or more vibration devices thatuse linear motion vibration actuators is shown in FIG. 31. Vibrationdevice controller 502 specifies the desired vibration effect and one ormore driver circuit(s) 504 a, 504 b, . . . , 504N provide the necessarypower to actuators 506 a, 506 b, . . . , 506N. While each actuator 506is shown as being powered by a separate driver circuit 504, it ispossible for multiple actuators 506 to be driven by one driver circuit504.

The controller 502 may be, by way of example only, a microprocessor andthe driver circuit(s) 504 may be, for instance, one or more electricalamplifiers. The controller 502 and drive circuit 504 may be integratedinto a single microprocessor or single electrical circuit. The controlmethod in this figure is for a configuration with N actuators, where Nis an arbitrary number of actuators. Some of the figures showing variouscontrol methods in the instant application illustrate only twoactuators. However, it should be understood that control methodsaccording to the present disclosure can be extended to include anarbitrary number of actuators, as shown in FIG. 31.

FIG. 32 shows a control method for two actuators. Here the controller502 specifies the desired vibration amplitude, A, frequency, f, andphase, p, for each actuator 506. The amplitude, frequency, and phase ofactuator 506 a (A1, f1, p1) may differ from the amplitude, frequency,and phase of actuator 506 b (A2, f2, p2). The profile/waveform of thedesired vibration force may be a sine wave, square wave, triangle wave,or other profile, such as is discussed above with regard to FIG. 1. Theactual vibration profiles/waveforms of the actuators 506 a,b may differfrom the desired vibration profiles due the dynamics of the drivecircuits 504 a,b and actuators 506 a,b.

FIG. 33 shows a control method where the frequency of vibration, f, isthe same for both actuators 506 a,b. FIG. 34 shows a control methodwhere the frequency of vibration, f, and the phase of vibration, p, arethe same for both actuators 506 a,b. In this embodiment, the actuators506 a,b are desirably driven synchronously such that the peak amplitudeof vibration will occur approximately at the same time for bothactuators 506 a,b. The amplitude of vibration may differ between theactuators 506 a,b.

FIG. 35 shows a control embodiment in accordance with the presentdisclosure where the vibration device controller 502 includes aninternal direction and amplitude controller 508, an internal frequencycontroller 510, and an internal vibration controller 512. The directionand amplitude controller 508 desirably specifies the combined vibrationamplitude, A_(combined), and the direction of vibration theta. Thefrequency controller 510 desirably specifies the vibration frequency, f.The vibration controller 512 uses the inputs of theta, A_(combined), andf to output vibration commands to the individual actuators 506 a,b. Thevibration controller 512 is operable to output various waveformsincluding sine waves, square waves, triangle waves, or other profiles asdiscussed herein.

The output from the vibration device controller 502 shown in FIG. 35provides the magnitude of vibration as a function of time to each drivecircuit 504 a,b. In the case where the profile of vibration is a sinewave, the amplitude of vibration for each actuator as a function of timeis given by the equation shown below:

$\begin{matrix}{\begin{bmatrix}{A_{1}(t)} \\{A_{2}(t)}\end{bmatrix} = {D^{- 1}{{Acombined}\begin{bmatrix}{\cos({theta})} \\{\sin({theta})}\end{bmatrix}}{\sin\left( {{\omega\; t} + p} \right)}}} & (28)\end{matrix}$Here, t is time and ω is the vibration frequency in radians per second.The parameter p is the phase of vibration and may be set to zero. Thevalue of ω in terms of frequency f in vibrations per second is given byω=2πf.

When the vibration actuators have a linear relationship between thecommand magnitude and the magnitude of vibration, the output A₁(t) andA₂(t) from equation 28 can be applied directly to the vibrationactuators to generate a combined vibration direction corresponding tothe angle theta. However some vibration actuators may have a nonlinearrelationship between the command magnitude and the magnitude ofvibration. For such nonlinear actuators it is possible to generatevibration in the direction theta by using a linearization function thatadjusts the magnitude of A₁ and A₂ to compensate for the nonlinearity ofthe actuator, as shown in the following equation.

$\begin{matrix}{\begin{bmatrix}{A_{1}(t)} \\{A_{2}(t)}\end{bmatrix} = {{linearization\_ function}\left\{ {D^{- 1}{A_{combined}\begin{bmatrix}{\cos({theta})} \\{\sin({theta})}\end{bmatrix}}{\sin\left( {{\omega t} + p} \right)}} \right\}}} & (29)\end{matrix}$The linearization equation described above can be a lookup table or ascaling algorithm or other type of function.

The ability to control the direction of vibration over time, such asthough use of equations 28 and 29, is an important advantage of thepresent disclosure. The ability to control vibration direction can beused in vibratory feeders to direct parts in a desired direction. Inaddition, there are numerous advantages of using the disclosure forhaptic devices as described herein.

FIG. 36A illustrates a system 550 showing the input of various inputparameters of amplitude, phase and position (or time) for a pair oflinear actuators. A computer 552 receives input of the parameters, whichare preferably entered using a computer keyboard (not shown); however,the parameters also could be input using a graphical user interface,analog potentiometers, or many other means generally known to thoseskilled in the art. The appropriate output waveforms for linearactuators 554 a and 554 b are then computed using the computer 552. Eachwaveform is preferably independent. While computation may be performedusing an analog computer, a digital computer is preferred.

If a digital computer is used, the digital output for each actuator 554a,b is then preferably fed into respective digital-to-analog (“DAC”)converters 556 a and 556 b, which convert the output to the appropriateanalog waveform. The analog waveforms are then fed into the appropriatedriver circuits 558 a and 558 b. Those skilled in the art could useother means to modulate the linear vibrations of each actuator 554 a and554 b, for example via pulse width modulated (“PWM”). Varying theparameters produces an extremely broad range and rich set of hapticsensations for the end user.

In addition to creating varying force effects, one could control thedirection of vibration—that is to say the direction of vibration couldremain stationary. The resultant force effects can be of lower frequencythan the frequency of vibration.

There are also useful applications for generating precise patterns ofvibrations from simple parameters. Such patterns include circles,ellipses and straight lines. Furthermore, the amplitude and duration ofthe patterns may be precisely controlled over time. Moreover, a sequenceof patterns may be generated as desired.

FIG. 36B illustrates the system 550 where the input of various inputparameters includes input of pattern number, amplitude, duration andstart-time for the vibration device using compound vibrations. Theparameters are preferably entered using a computer keyboard. Theappropriate output waveforms for each linear actuator are then computedat computer 552. As described above, the digital output for eachactuator 554 a and 554 b is then fed into DACs 556 a and 556 b forconversion to the appropriate analog waveforms. The waveforms are thenfed into the driver circuits 558 a and 558 b. Again, the variousparameters produce an extremely broad and rich set of haptic sensationsfor the end user.

Each of the vibration devices described herein according to the presentdisclosure can be used as a haptic interface. Haptic interfaces provideforce sensation to a user. Haptic interfaces include computer gamingcontrollers, robot controllers, surgical tool controllers, as well asother devices where a force sensation is provided to a user.

An embodiment 600 of the present disclosure with a haptic interfaceapplication is shown in FIG. 37. In this embodiment a systems controller602 provides force commands to a haptic interface 604 which generatesforces which result in force sensations to user 606. The systemscontroller 602 may be microprocessor, a central processing unit, anASIC, a DSP, a game controller, an analog controller, or other type ofcontroller or any combination thereof. The user 606 can input commandsto the haptic interface 604 that are transmitted as user commands backto the system controller 602. The user commands can be input throughpressing buttons, moving joysticks, squeezing the haptic interface atvarious level forces, moving the haptic interface, applying force andtorque onto the haptic interface and through other means.

In the embodiment shown in FIG. 37, there is preferably a graphicaldisplay 608 which receives an image command from the system controller602 and displays a visual image to the user 606. The graphical display608 may be, for instance, a computer monitor, a television monitor, anLCD display, a plasma display, a combination of light sources, or othertype of means for generating a graphical image. A haptic interfaceapplication can also be implemented without a graphical display 608.

A haptic interface application can include a simulation of a virtualenvironment or representation of a real environment to the user 606. Asystems controller method of control can be based upon this real orvirtual environment. Typical simulated environments include games,driving and flight simulations, surgical simulations, and other types ofsimulations. Typical real world environments include control of robotsand remote machines, long distance interactions, and other types ofenvironments. It is often desirable that a haptic interface provideforce sensations that correlate with the real or simulated environmentin which the haptic interface is being used.

Another embodiment 620 having a haptic interface application is shown inFIG. 38. This embodiment is similar to the one of FIG. 37, and includesa systems controller 622, which provides force commands to a hapticinterface 624 that generates forces which result in force sensationsbeing received by user 626. A graphical display 628 is also provided forreceiving image commands from the system controller 622 and fordisplaying a visual image to the user 626.

In the embodiment of FIG. 38, the haptic interface 624 desirablyincludes a vibration device 630 having vibration actuators (not shown),a vibration controller 632, driver circuits 634 which drive thevibration device actuators, and an input device 636, which can detectuser input and which can include buttons, joysticks, and pressuresensors. The components of the haptic interface 624 may be of any of theconfigurations described herein. In this embodiment the graphicaldisplay 628 preferably presents a two dimensional image. The graphicaldisplay 628 shows an object of interest at a direction specified by theangle theta. It is may be desirable that the force sensation felt by theuser 626 correspond to the image on the graphical display in terms ofdirection, such as theta, and other attributes.

The embodiment shown in FIG. 38 can be utilized so that the forcesensations felt by the user 626 are generated by the vibration devicecontroller 632 specifically to correspond to the image on the graphicaldisplay 628. The vibration device controller 632 may specify one or moreof the amplitude of vibration, A_(combined), direction of force, theta,and frequency of vibration, f, as described above. The values ofA_(combined), theta, and/or f can be selected to correspond to the imageon the graphical display 628 and the environment being used by thesystem controller 622. The complete force effect (including frequency,amplitude, combined direction of force and torque, and duration of forceeffect) generated by the vibration device may correlate events within agraphical computer simulation. Several examples of such operationfollow.

A first example involves the simulation of a user firing a gun. In thissimulation, the vibration device controller 632 could specify the angletheta to represent the direction of a gun firing, the amplitude ofvibration, A_(combined), to represent the amplitude of the gun recoil,and the frequency of vibration, f, to represent the frequency of bulletsleaving the gun.

A second example involves an impact between objects. In this simulationthe vibration device controller 632 may specify the angle theta torepresent the direction of impact, and the amplitude of vibration,A_(combined), to represent the amplitude of impact.

A third example involves driving a vehicle. In this simulation thevibration device controller 632 could specify the angle theta torepresent the direction of vehicle motion, the frequency of vibration,f, to represent the frequency of vehicle vibration as it drives overbumps in the road or the speed of the vehicle, and the amplitude ofvibration, A_(combined), to represent the amplitude of bumps in theroad.

A fourth example involves a car or spacecraft spinning out of control.In this simulation the vibration device controller 632 could specify anangle theta that represents the vehicle's orientation. To represent thevehicle spinning, the angle theta can vary over time. The rate at whichthe angle theta can be different than the vibration frequency. Typicallythe frequency at which a vehicle spins would be significantly lower thantypical vibration frequencies.

An algorithm that can be used to create the vehicle spinning describedabove varies the direction of vibration continually. The direction ofvibration may be rotated at a rate of β radians per second, using theequation below:

$\begin{matrix}{\begin{bmatrix}{A_{1}(t)} \\{A_{2}(t)}\end{bmatrix} = {D^{- 1}{A_{combined}\begin{bmatrix}{\cos\left( {\beta t} \right)} \\{\sin\left( {\beta t} \right)}\end{bmatrix}}{\sin\left( {{\omega t} + p} \right)}}} & (30)\end{matrix}$

Equation 30 illustrates that the frequency of direction change, β, canbe modified independently from the frequency of vibration ω. A user suchas user 606 or 626 can sense both the frequency of vibration and thedirection of vibration. In this fashion, sensations at both the β and ωfrequencies can felt by the user. It is possible to set the frequency βmuch lower than the frequency ω, thereby overcoming a limitation ofknown devices. By way of example only, ω may vary between 10 Hz and 100Hz while β may be on the order of 1 Hz. In another instance, β may varyfrom between about 5% to 20% of ω. Of course, in other instances ω and βmay be similar or the same, or, alternatively, β may be larger than ω.All of these examples will depend on the specific effect that isdesired.

Low frequency operation is desirable in some situations, for instance ingames that have low frequency effects. For instance, games may generateactions or events in the sub-200 Hertz range, such as between 1 and 150Hertz. In certain cases the actions or events may be as low as 2 Hertzor lower, such as about 0.5-1 Hertz. Examples of such actions/eventsinclude gunshots, automobile related sounds such as corresponding to acar spinning out of control, and helicopter related sounds such as thewhirring of the rotor blades. A traditional eccentric mass actuator maynot be suitable to generate a haptic sensation in this frequency range;however, two or more vibration actuators operated in synchronizedvibration may generate such frequencies.

β is not limited to any particular rate or range of rates. For instance,β may be a relatively low rate to represent a slow spinning action,e.g., of a car spin out at less than 10 miles per hour, or β may be arelatively high rate to represent a fast spinning action, e.g., of a carspin out at a speed in excess of 40 miles per hour. Similarly, ω is notlimited to any particular frequency of vibration. Preferably, ω is setwithin a range of frequencies that can be felt or otherwise detected bya user.

Equation 30 may be modified by changing the vibration profile from asine wave to a square wave, triangle wave, or other profile. Inaddition, the amplitude of vibration, A_(combined), can be varied overtime. The frequencies β and ω can also be varied over time. In thisfashion a wide range of force effects can be created.

Vibration actuators can be used to provide haptic sensations eitherthrough synchronized vibration or otherwise. Actuators can be vibratedwithout synchronization when there is no need to convey directionalinformation, and then the actuators can be switched to synchronousvibration when there is a need to convey directional information thoughthe haptic interface.

Many linear motion vibration actuators take advantage of resonance toachieve relatively high level of forces with low power requirements.However, to achieve these high levels of forces a number of vibrationcycles have to occur before the peak magnitude of vibration occurs. Inaddition when the actuator is shut off, the moving mass in the actuatormay continue to oscillate for a number of cycles. Thus the dynamics ofthe actuator prevents instantaneous response of the actuator to increaseor decrease the magnitude of vibration.

When synchronous vibration is used to control the direction of combinedforce, the actuator dynamics may limit the speed at which the directionof combined force can be changed. One of the examples presented abovedescribes implementation of a haptic force sensation that corresponds tothe spinning of a car. However, the actuator dynamics may limit the rateat which such spinning effect can be generated. As will be described indetail below, it is possible to provide a method that can increase therate at which the direction of force can be changed for a system ofvibration actuators that are synchronously vibrated.

Equation 25 above defines the required amplitude of vibration ofactuators to achieve a combined force direction corresponding to anangle theta. For a given actuator in a vibration device, the requiredamplitude of vibration is defined as Ades, which indicates the desiredamplitude of vibration of that actuator. If the actuator is at rest orat a lower level of vibration than Ades, then it may be desirable toinitially drive the actuator at a higher level of vibration to morequickly raise the amplitude of vibration to Ades. Conversely if theactuator is already vibrating at an amplitude higher than Ades it may bedesirable to initially drive the actuator at a lower level or even brakethe actuator to more quickly lower the amplitude of vibration to Ades.These variations in the amplitude at which the actuator is driven aredefined as corrections to the commanded vibration magnitude.

One method of determining the proper corrections to the vibrationmagnitude is to model the dynamics of the actuator. This approach allowsone to predict the dynamic states of the actuator and optimal commandsto most quickly generate the desired amplitude of vibration.

An alternate method of determining the corrections to the vibrationmagnitude does not require a dynamic model of the actuator or explicitlypredicting the dynamic states of the actuator. In this method a counteris maintained to track the recent number of vibrations of the actuatorand the corresponding commands sent to the actuator during these recentvibrations. The command to the actuator at the k^(th) vibration is givenby the following equation:A _(com_k) =A _(des_k) +A _(cor_k)

A_(des_k) represents the desired actuator amplitude for the k^(th)vibration of the actuator. A_(cor_k) represents the correction to thecommand for the k^(th) vibration. And A_(com_k) represents the actualamplitude of the command sent to the actuator for the k^(th) vibration.

If the desired amplitude at the k^(th) vibration is greater than theamplitude during the previous vibration, then most likely the vibrationlevel needs to be increased. Accordingly, the correction to the commandat vibration k, A_(cor_k), can be chosen to be proportional to thedifference between the current desired amplitude, A_(des_k), and theprevious commanded amplitude A_(com_k−1). An equation which describedthis approach for calculation A_(cor_k) is:A _(cor_k) =K*(A _(des_k) −A _(com_k−1))  (31)

Here, K is a gain chosen based upon actuator performance. This sameequation works for reducing the magnitude of vibration quickly. WhenA_(des_k) is less than the value of A_(com_k−1), it indicates that mostlikely the level of vibration needs to be reduced and the correctionA_(cor_k) is negative. If the large reduction in vibration amplitude iscommanded, then the negative magnitude of A_(cor_k) may be greater thanA_(des_k) and the actual command sent to the actuator, A_(com_k), willbe negative resulting in braking of the moving mass in the actuator.

Another approach to correcting the magnitude of vibration takes intoconsideration the two previous commanded amplitudes, and is given by thefollowing equation:A _(cor_k) =K ₁*(A _(des_k) −A _(com_k−1))+K ₂*(A _(des_k)−Acom_(k−2))  (32)

Here K₁ is a gain that corresponds to the k−1 vibration command, and K₂is a gain that corresponds to the k−2 vibration command. In a similarfashion even more prior commands can be incorporated into the correctionalgorithm. The following equation shows how “m” prior commands can beincorporated into an actuator command.

$\begin{matrix}{A_{cor\_ k} = {{K_{1}*\left( {A_{des\_ k} - A_{{com\_ k} + 1}} \right)} + {K_{2}*\left( {A_{des\_ k} - A_{{com\_ k} - 2}} \right)} + \ldots + {K_{m}*\left( {A_{des\_ k} - A_{{com\_ k} - m}} \right)}}} & (33)\end{matrix}$

Alternative methods of control for multiple vibrating actuators mayinclude modified synchronization. One method of modified synchronizationis for one actuator to vibrate at a frequency that is an integermultiple of the vibration frequency of another actuator. FIG. 39 is aplot 650 presenting two vibration profiles, 652 and 654, showing such acontrol method. The vibration frequency of profile 654 is twice thevibration frequency of profile 652. The beginning of cycles of vibrationcan be controlled to occur at the same time only ever other cycle forprofile 2. Thus the superposition of peak amplitudes only occurs everother cycle for profile 654. This modified synchronization method can beapplied for arbitrary integer multiples of vibration frequency,arbitrary vibration profiles, and an arbitrary number of actuators.

One advantage of such a modified synchronization method is that multiplevibration frequencies can occur at the same time while still providingfor some superposition or peak amplitudes. The superposition of peakamplitudes allows for control of direction of vibration, in a similarfashion to how the direction for vibration is controlled forsynchronized vibration. With this modified method of synchronizedvibration, it is possible to specify the direction of combined forceonly during a portion of the vibration cycle. Nevertheless, a directioncomponent to the vibration can be controlled in the duration close tothe time where the superposition of peaks occurs. Close to the time atwhich there is superposition of peaks in the vibrations, the combinedforce vector, F_(combined), can be approximated by:F _(combined) =a ₁ A ₁ +a ₂ A ₂   (34)

Here, a₁ and a₂ are the unit vectors aligned with the directions ofactuator 1 and actuator 2, respectively. A₁ and A₂ are the amplitudes offorce of actuator 1 and actuator 2, respectively, near the duration ofthe superposition of peaks. By modifying the amplitudes A₁ and A₂ it ispossible to modify the amplitude and direction of the combined forcevector, F_(combined). A similar approach can be used when there are morethan two vibration actuators.

If there are two or more vibrating actuators where repeatedly the peakamplitude of force of these vibrating actuators occurs at approximatelythe same time, then the combined direction of force of these actuatorscan be controlled near the time when these repeated peak amplitudesoccur. In this case, the combined direction of force can be controlledby modifying the amplitude of vibration of the actuators.

An alternative modified synchronization is to drive two vibrationactuators at the same frequency but one vibration actuator at a phasewhere its peak magnitude of force occurs when a second vibrationactuator is at zero force, which is at 90 degrees out of phase for asinusoidal vibration. In such a modified synchronization the combinedforce direction rotates in a circle or ellipsoid during each vibrationperiod.

Additional methods for modified synchronization of vibration may includethe superposition of profiles as described in the “Jules Lissajous andHis Figures” (“Lissajous”), appearing in chapter 12 of “TrigonometricDelights” by Eli Maor, published in 1998 by Princeton University Press.The entire disclosure of Lissajous is hereby incorporated by reference.Lissajous describes how profiles can be combined through variouscombinations of frequencies, phases, amplitudes, and profiles togenerate a wide range of output figures. These are also known asBowditch curves. Lissajous also describes how geometric shapes can becreated from multiple vibration sources. These combinations ofvibrations can be applied to haptic devices and vibration devices inaccordance with aspects of the present disclosure. Thus, the concepts ofsuperposition described in Lissajous can be applied by vibrationactuators to yield a wide range of force sensations.

Electric actuators often require a driver circuit separate from acontroller. The driver circuit provides sufficient current and voltageto drive the Actuators with the necessary electrical power. A wide rangeof driver circuits have been developed for electrical actuators andspecifically for vibration actuators, and are known to those skilled inthe field. Such driver circuits include linear drivers, PWM drivers,unipolar drivers, and bipolar drivers. A circuit block diagram for avibration actuator 700 according to the present disclosure includes avibration controller 702, a driver circuit 704, and an actuator 706, asshown in FIG. 40.

The vibration controller 702 shown in FIG. 40 can be located on thevibration device itself or could be located remotely, where thevibration signals are transmitted to the driver circuit 704 throughwired or wireless communication.

It is often desirable to control a vibration device or actuators from adigital controller such as a microprocessor or other digital circuit.Digital control circuits often have low level power output, andtherefore require a higher power driver circuit to drive an actuator. Inaddition, low cost digital controllers often have digital outputs, butdo not have analog outputs. To simplify the vibration controllercircuitry and lower cost, the vibration signal can be a binary logicdirectional signal which signals the moving mass to move either forwardor backwards. In this configuration, the vibration signal can be in theform of a square wave to generate the desired vibration effect. Evenwith such a square wave control signal, the actual motion and vibrationforce of the vibration actuator will most likely not follow a squarewave exactly due to the dynamics of the actuator.

To further simplify the vibration controller circuitry and lower cost,the amplitude of the vibration signal can be modulated with a PWMsignal, where the duty cycle of the signal is proportional to theamplitude of vibration. An embodiment 710 with such a digital vibrationcontroller 712 for one actuator 716 is shown in FIG. 41. In thisembodiment, the output of the digital vibration controller 712 includesan amplitude signal in PWM form and a direction signal, for instance inthe form of a logic bit, both of which preferably are sent to a drivercircuit 714. The driver circuit 714, in turn, sends electrical power tothe actuator 716.

Digital control circuitry can be used to control a complete vibrationdevice in synchronized vibration. In synchronized vibration thefrequency and phase of two or more actuators are the same. Accordingly,a single square wave can be used to control the direction of thevibration actuators that are in synchronized vibration. The amplitude ofvibration can be controlled independently for each actuator, withseparate PWM signals.

FIG. 42 shows an embodiment 720 where a vibration device controller 722generates one directional signal (“dir”), which may be in the form of asquare wave. The dir signal is preferably provided to a pair of drivecircuits 724 a and 724 b. The vibration device controller 722 desirablygenerates separate amplitude signals, A₁ and A₂, in PWM form to thedrive circuits 724 a,b for a pair of actuators 726 a and 726 b. Thevibration device controller 722 preferably includes a direction andamplitude controller 728, a frequency controller 730 and a vibrationcontroller 732 as in the embodiment described above with regard to FIG.35. The direction and amplitude controller 728, the frequency controller730 and the vibration controller 732 may be configured in hardware,software, firmware or a combination thereof, and may be implementedeither as separate components or processes, or may be implemented as asingle component or process.

The embodiment 720 of FIG. 42 may be used to control in synchronousvibration the vibration devices with two actuators, for instance asdescribed above with regard to FIGS. 10-20. Embodiment 720 can also beused to vibrate two or more actuators completely out of phase, whichoccurs during synchronized vibration when equation 25 provides resultswith the sign of A1 being different than the sign of A2. To vibrate twoactuators completely out of phase, the binary direction signal dir canbe inverted for one of the actuators. The inversion of the directionalsignal dir can occur at a driver circuit 724 a or 724 b, or thevibration controller 732 can output two directional signals, with onebeing the inverse of the other. The case where two actuators are beingdriven completely out of phase is shown in FIG. 13.

Electric actuators in accordance with the present disclosure can bedriven with unipolar or bipolar drivers. A unipolar driver will generatecurrent in an actuator in a single direction. A unipolar driver is wellsuited for actuators where the moving mass is ferromagnetic and anelectromagnetic coil only generates attractive magnetic forces, such asthe actuator 150 shown in FIG. 9. One example of a unipolar drivercircuit is a Darlington array, such as the ULN2803A DARLINGTONTRANSISTOR ARRAY manufactured by Texas Instruments.

A bipolar driver can generate current in two directions. Bipolar driversare well suited for actuators where the moving mass is magnetic andwhere reversing the direction of current in an electromagnetic coil canreverse the direction of force on the moving mass. Examples of suchactuators are presented in FIGS. 5A-B through 8A-B. One example for abipolar driver circuit is an H bridge, such as the L298 manufactured byST Microelectronics. Alternative H bridges are the 3958 and 3959 driversmanufactured by Allegro Microsystems.

In vibrating circuits it can be advantageous to increase power output ofthe driver circuits through use of a charge pump capacitor as used in3958 and 3959 drivers manufactured by Allegro Microsystems. It can alsobe advantageous to incorporate a capacitor in series with a linearmotion vibrating actuator to benefit from a resonance effect andtemporary storage of energy in the capacitor, as described in theaforementioned U.S. Patent Application entitled “Vibration Device.”

As detailed herein, vibration actuators can be used in a variety ofmethods to create haptic effects. Vibration actuators can be operatedcontinuously throughout the duration of a specified haptic effect, orcan be pulsed on and off during the haptic effect. By pulsing vibrationactuators on and off the user feels only a small number of vibrations,then feels a pause, and then the vibration resumes. In this fashion itis possible to generate secondary sensations associated with thefrequency of pulsing the actuators on and off. Examples of how suchpulse effects can be used are described in U.S. Pat. Nos. 6,275,213 and6,424,333.

Any of the actuators described herein may be used in accordance with thepresent disclosure to produce a wide variety of haptic effects. Whilesome actuators such as linear actuators and rocking mass actuators maybe particularly suited for low frequency operation, all actuators hereinmay provide synchronized feedback. Such feedback may be employed ingames, virtual reality equipment, real-world equipment such as surgicaltools and construction equipment, as well as portable electronic devicessuch as cellular phones and pagers. By way of example only, cellularphones and pagers may implement different vibration effects to identifydifferent callers or different actions. Synchronized vibration mayprovide directional feedback, for instance, with the impact or recoil ofa gun in a game, or to distinguish between frontal and side impacts indriving games. Synchronized vibration may also provide a continualrotation of a vibration force vector in a game to simulate a carspinning out of control. Synchronized vibration may also be used inendless other applications and situations to provide a rich hapticexperience to a user.

As mentioned above, other aspects of the disclosure include GeneralSynchronized Vibration. General Synchronized Vibration differs fromnon-synchronized vibration in that the frequency and phase of multiplevibration forces are controlled. Embodiments with multiple VibrationActuators that are not controlled with the General SynchronizedVibration approach will often have inconsistent frequency, amplitude, orrelative phase between the actuators. With General SynchronizedVibration the frequency and phase of the Vibration Actuators may varyduring the start-up and transitions between various waveforms. However,once the actuators are synchronized, each actuator is controlled to aspecific frequency and phase.

Often each actuator is controlled to a fixed frequency and phase for agiven duration of time. This duration of time depends on theapplication, but is typically longer than the period of the highestfrequency vibration force that is being synchronized. In hapticapplications this duration of time is typically along enough for aperson to sense the effect. However, there are some implementations ofGeneral Synchronized Vibration where the desired waveform of vibrationvaries quickly, such as a quickly changing direction used to provide asensation of spinning. In such quickly varying waveforms, the desiredfrequency and phase of a vibration actuator may be changing in aduration that is shorter than the period of the vibration of thatactuator. A common characteristic of General Synchronized Vibration isthat the frequency and relative phase of multiple vibration actuatorsare explicitly controlled to desired values rather than randomlyselected values.

In General Synchronized Vibration there is typically a consistentcorrelation between frequency and phase of the actuators and desiredvibration effects. For example, a haptics effect library for softwaredevelopers may have a routine labeled “spin,” which generates a sequenceof desired frequency and phase for a plurality of Vibration Actuators.Each time the spin effect is executed, a similar sequence of frequencyand phase and generated by the plurality of Vibration Actuators.

Embodiments of this disclosure include a Vibration Device comprised ofmultiple Vibration Actuators mounted onto a mounting platform such as abase plate, sub-frame, housing, or enclosure. For example the mountingplatform could be the housing of a game controller, or the housing of aVibration Actuator. The mounting platform transfers force and torquebetween the Vibration Actuators and thereby allows the vibration forcesand torques to be superimposed upon each other. The mounting platform ispreferably rigid, but can also be relatively rigid component, or asemi-rigid component. The mounting platform could be made of separatepieces. The mounting platform could include components of an object uponwhich vibration forces are being applied. For example if multipleVibration Actuators are mounted onto a person's arm or other body partsand forces are transmitted from these actuators through the arm or bodyparts, then the arm or body parts can serve as the mounting platform.This disclosure pertains to any configuration where the forces andtorques from multiple Vibration Actuators can be vectorially combined togenerate a net vibration force, vibration torque, or vibration force andtorque.

The mounting platform is typically attached to a number of items such asbattery, control circuit board, and the stationary parts of theVibration Actuators including housing and stator. The combined mass ofthe mounting platform and items that are attached to it is defined as a“Reference Mass”. The vibration force and torques are transferred fromVibration Actuators to the Reference Mass. If the mounting platform isable to move, the vibration forces may shake the Reference Mass.Typically the Reference Mass is in contact with an “External Object”,and forces and torques are transmitted between the Reference Mass andthe External Object. For example, a game controller held in a user'shand would transfer forces and torques from the game controller'sReference Mass onto a user's hands, which in this case is an ExternalObject. The mounting platform may be attached to the Earth, which wouldalso be an External Object. A Vibration Device attached to the Earth issometimes termed a “Shaker” or a “Shaker Device”.

A preferred embodiment uses two aligned LRAs, as shown in FIG. 43. LRA1102 a and LRA 1102 b are attached to mounting platform 1100 and arealigned in the axis of vibration that they generate. Each LRA has amoving mass, 1108, and a housing 1106 which is attached to the Mountingplatform 1100. This configuration of vibration actuators is referred toas an LRA Pair. The vibration forces from each LRA are combined togetherthrough the mounting platform 1100. The vibration force generated by LRA102 a is designated as F1 and the vibration force generated by LRA 1102b is designated by F2.

For the embodiment shown in FIG. 43, one method of generating anasymmetric vibration force is to operate LRA 1102 b at twice thefrequency of LRA 1102 a, with a specified phase difference of either 90or −90 degrees. The vibration forces in such an embodiment withsinusoidal vibrations can be given by:F ₁ =B ₁ sin(ω₁ t+ϕ ₁)F ₂ =B ₂ sin(ω₂ t+ϕ ₂)

Where ω₂=2ω₁ϕ₁=0, and ϕ₂=−90

The combined force for the LRA Pair is given by:F _(LRA_Pair) =B ₁ sin(ω₁ t+ϕ ₁)+B ₂ sin(ω₂ t+ϕ ₂)  (35)

Typically it is not critical to control vibration effects relative toabsolute time. Accordingly, when implementing the vibration effectdescribed in Eq. 35 above, it is not critical to control both the phaseϕ₁ and ϕ₂, but rather the relative phase between the two actuators.Therefore in some implementations one could set phase ϕ₁ to zero andcontrol only ϕ₂. Alternatively one could directly control the phasedifference between the actuators. In this application typically thephases of all the actuators are shown in the equations. However, withoutloss of utility only the relative phase of the actuators can becontrolled. Thus the phase of Vibration Actuators 2, 3, 4, etc. would becontrolled relative to the phase of actuator 1; thereby eliminating theneed to control the phase of actuator 1 relative to absolute time.

A feature of this disclosure includes the use of superposition ofsynchronized vibration waveforms. When multiple vibration forces aregenerated on a single vibration device, the Combined Vibration Force forthe device is the superposition of the multiple waveforms. An examplewith two synchronized sine waves described by Eq. 35 is shown in FIG.44. As shown, waveform 2 has twice the frequency of waveform 1. Thephase of both waveforms is set such that at a time of zero the peaks ofboth waveforms have their maximum value in a positive direction, and theforces magnitudes are added together (also referred to as constructiveinterference or positive interference).

Furthermore, at the time when waveform 1 is at its negative peak thenwaveform 2 is at a positive peak, and the forces magnitudes aresubtracted from each other (also referred to as destructive interferenceor negative interference). Due to this synchronization the combinedvibration waveform is asymmetric, meaning that the force profile forpositive force values is different than the force profile for negativeforce values. In the asymmetric waveform shown in FIG. 44 there is ahigher peak positive force and a lower peak negative force. In hapticapplications the larger force in the positive direction can generatemore of a force sensation than the lower magnitude force in the negativedirection, even though the duration of force in the negative directionis longer. In this fashion asymmetric vibrations can be used to generatea haptic cue in a specific direction with a vibration device.

In an LRA, a moving mass moves relative to the actuator housing, and arestoring spring transfers force between the moving mass and theactuator housing. The force imparted by an LRA onto a mounting platformis a combination of the force from the restoring spring, and theelectromagnetic force between the stator and moving mass. The restoringspring can be, for example: a mechanical spring or a magnetic spring. Asresonance builds up in an LRA, the magnitude of the spring restoringforce increases and becomes the dominant portion of the actuator force.Accordingly, the peak force imparted by a LRA onto the mounting platformtypically occurs at or near the peak excursion point of the moving mass.

In FIG. 43 the moving masses are graphically depicted as towards theright side of the LRAs to indicate actuator forces being applied to theright. Accordingly, when the embodiment shown in FIG. 43 is controlledto follow the waveform described by Eq. 35, then the moving mass of LRA1102 a is at its peak excursion to the right at the same time when themoving mass of LRA 1102 b is at its peak excursion to the rightresulting in a large combined force to the right, yet when the movingmass of LRA 1102 a is at or near its peak excursion to the left then themoving mass of LRA 1102 b is at or near its peak excursion to the right(since it is vibrating at twice the frequency) resulting in forcecancelation and a low combined force to the left.

Thus, in this embodiment the timing of the moving masses is anindication of an asymmetric vibration waveform. In FIG. 45, theembodiment shown in FIG. 43 is shown at various time steps as itimplements the vibration waveform shown in FIG. 44. In 45, the top LRAvibrates at twice the frequency and generates lower forces that thebottom LRA, the position of the moving masses indicates the forcesgenerated by each LRA, and the combined force vector is shown betweenthe LRAs. Each time step in FIG. 45 is labeled according to the period,T, of the slower LRA.

In the embodiment shown in FIG. 43, the alignment of the actuators doesnot have to be precise. Indeed, in haptic applications having the twoactuators are not precisely aligned may not deter from the primaryhaptic effect that is being generated.

A variation of this embodiment is shown in FIG. 46. The actuators 1102 aand 1102 b are attached directly to each other to provide an even morecompact configuration. Also the LRAs can share housings, shafts, powersupplies, and other components to make the device even more compact.

Another variation of this embodiment is shown in FIG. 47. The actuators1102 a and 1102 b are attached in line with each other. In thisembodiment, the forces of each LRA are collinear, and create no nettorque along the axis of the LRAs. This embodiment is useful where pureforce output is desired without any torque output.

The timing of vibration force within a Vibration Actuator can becorrelated with a number of physical properties. For example, in manyLRAs a spring applies a restoring force onto a moving mass and thevibration force is largely correlated with the position of the movingmass. In ERMs the direction of the vibration force largely correlates tothe angular position of a rotating eccentric mass. Linkage mechanismscan be used to generate vibrations, such as a slider-crank vibrationactuator 1110 shown in FIG. 48, where a rotating motor 1114 moves a mass1120 back and forth. With such linkages the vibration force can becorrelated with the acceleration of a moving mass. Since the vibrationforce can be correlated with a number of physical properties, GeneralSynchronized Vibration can also be characterized by control of thefrequency and phase of the position or acceleration of moving masseswithin Vibration Actuators.

A feature of this disclosure includes combining vibration waveforms frommultiple Vibration Actuators to generate a more complex vibrationwaveform. The asymmetric vibration described by Eq. 35 and shown in FIG.44 is only one such type of combined vibration waveform. A more generalembodiment shown FIG. 49 has a set of N LRAs all aligned with the sameaxis. According to one aspect, in General Synchronized Vibration aplurality of Vibration Actuators are synchronized in phase andfrequency, and in some cases amplitude. A wide range of vibrationeffects can be generated by controlling the frequencies and phases ofall N actuators.

A vibration force, F, is in a repeated cycle over a period T whenF(t+T)=F(t). The vibration force of an ith actuator in a repeated cyclecan be given by:F ₁(t+Δ ₁ +T ₁)=F ₁(Δ₁ +t),where Δ₁ is the phase and T₁ is the period of the ith actuator. For theembodiment shown in FIG. 49, there is a set of N LRAs all aligned withthe same axis. If all actuators are operated at set frequencies andphases, then the combined vibration force can be given by:F _(AlignedSet) =F ₁(Δ₁ +t)+F ₂(Δ₂ +t)+ . . . +F _(N)(Δ_(N) +t)  (36)

In the general case, the waveform shapes of F₁ can be a wide range ofwaveforms including sine waves, triangle waves, square waves, or otherwaveforms. In some embodiments, the frequency of the actuator with thelowest frequency is defined as the fundamental frequency, ω₁, and theremaining actuators vibrate at integer multiples of the fundamentalfrequency. In these embodiments the period of the fundamental frequencyis given by T₁ and the remaining vibration periods are given by suchthat:T ₁=2T ₂ ,T ₁=3T ₃ , . . . T ₁ =NT _(N)

When all the vibration actuators vibrate at integer multiples of thefundamental frequency, then the combined waveform has a repeatedwaveform with a period of the fundamental frequency. The fundamentalfrequency is also referred to as the first harmonic.

One method of implementing General Synchronized Vibration is to usesinusoidal vibrations in each actuator of an aligned set, and useFourier Waveform Synthesis to select the phase, frequency, and amplitudeof each actuator to approximate a desired vibration waveform. For a setof N aligned actuators with sinusoidal waveforms, the combined force ofan Aligned Set, F_(AlignedSetFourier), is given by:F _(AlignedSetFourier) =B ₁ sin(ω₁ t+ϕ ₁)+B ₂ sin(ω₂ t+φ ₂)+ . . . +B_(N) sin(ω_(N) t+ϕ _(N))  (37)

A wide range of additional waveforms can be synthesized from a set (aplurality) of vibration waveforms. Fourier synthesis is a method wherebyan arbitrary waveform can be approximated from a combination of sinewaves, including both symmetric and asymmetric waveforms. It isadvantageous to use actuators vibrating at frequencies that are integermultiples of the frequency of vibration of other actuators. The lowestfrequency in the set is referred to as the fundamental frequency or thefirst harmonic, the second harmonic is twice the fundamental frequency,the third harmonic is three times the fundamental frequency, and so on.

An advantage of using harmonics is that all the waveforms in the setrepeat at the period of the fundamental frequency, thereby providing arepeating waveform profile of the combined waveform. In many vibrationapplications each vibration actuator generates a force with a repeatedwaveform that has a zero DC component and the combined force isdescribed by Eq. 37. Accordingly, the combined vibration force does nothave a DC component. Fourier synthesis is widely used in create a widerange of waveforms. One example waveform is a Sawtooth waveform, whichcreates a sudden change of force in one direction. In this manner, theSawtooth waveform can be used to generate directional haptic cues. Whenthe set of waveforms consists of three sine waves, the Sawtooth waveformcan be generated with the first harmonic at relative amplitude 1, thesecond harmonic is at relative amplitude of ½, and the third linear sinewave with a relative amplitude of ⅓. With Fourier waveform synthesis,arbitrary waveforms can be approximated including both symmetric andasymmetric waveforms. When using Fourier waveform synthesis, bothconstructive and destructive interference can occur for both thepositive and negative forces amplitudes.

An operating advantage of an LRA is to use resonance to generate highmagnitude vibration forces from a relatively low power input, and an LRAcan be designed and manufactured to have a specific resonant frequencyby optimizing its spring stiffness and moving mass. In embodiments ofGeneral Synchronized Vibration, it can be advantageous to select a setof LRAs with resonant frequencies that correspond to at least some ofthe harmonics of a desired waveform. For example for a vibration devicesuch as that in FIG. 49 with a set of n LRAs, the first LRA 1102 a couldhave a specified resonant frequency of ω₁, the second LRA 1102 b couldhave a specified resonant frequency of 2ω₁, the third LRA could have aspecified resonant frequency of 3ω₁, and so on through the nth LRA 1102n.

Although LRAs are generally designed to operate at their resonantfrequency, one can operate LRAs at other frequencies with loweramplitude force output per input command signal. Since lower amplitudeforce output is typically required at higher harmonics, once could builda Vibration Device with LRAs that all have the same resonant frequency,but operate them at different frequencies. For example for a vibrationdevice with a set of 2 LRAs, both LRAs could have a specified resonantfrequency of (3/2)ω₁, where the first LRA is driven at ω₁, and thesecond LRA is driven at 2ω₁. In this configuration both LRAs areamplifying the input signal, but less than if they were driven at theresonant frequency of the LRAs, which is (3/2)ω₁ for this example.

Asymmetric Vibration waveforms are useful for generating directionalhaptic cues, and can be synthesized using Fourier synthesis. Forinstance, an example of a method for selecting frequency, phase, andamplitude of sinusoidal vibrations to generate a high level of asymmetryis discussed below. Vibration parameters are specified for a set of 2,3, and 4 actuators. In addition a process is presented for identifyingparameters for waveforms with a high level of vibration asymmetry forany number of actuators. It should be noted that high levels ofasymmetry may be achieved even if the values specified by this exampleare only approximately implemented. For instance, in the case ofsuperposition of two sine waves, if there is a 30% error in theamplitude of vibration then 90% of desired asymmetry effect will stillbe realized.

Fourier synthesis allows one to approximate an arbitrary waveform with asuperposition of sinusoidal waves. However, it is advantageous in someapplications to generate asymmetric waveforms that have higher peakmagnitudes in the positive direction than in the negative direction (orvice versa). The question then becomes what is the best function toapproximate that will maximize the amount of asymmetry for a givennumber of superimposed sine waves? It is of special interest to considerasymmetric waveforms that have a zero DC component and thus can becomposed solely of sine waves. Waveforms with a zero DC component can beused to generate vibrations from a set of vibrators since each vibratorwill typically have a zero DC component. An asymmetric pulse train isillustrated in FIG. 50. The pulse-train is just one example of anasymmetric waveform, but it is a useful example. For the pulse-train tohave a zero DC component, the area above the axis. Thus:

W ⋅ P = (T − W)V, and ${V = \frac{W \cdot P}{\left( {T - W} \right)}},$where W is the pulse width, V is valley amplitude, T is period ofrepeated pulse, and P is peak amplitude.

The amount of asymmetry in a pulse-train can be defined by thepercentage increase of P over V. One could increase the amount ofasymmetry by reducing W, which would generate a thin and high pulse.However, if W is too small, the waveform would not be well-approximatedwith a small number of sine waves. Accordingly, an analytical questionis, “What is the optimal value of W for a waveform composed of N sinewaves?”

FIG. 51 illustrates a pulse-train with zero DC component. Given thiswaveform, one may find its Fourier coefficients according to the Fourierseries:

${{f(t)} = {a_{0} + {\sum\limits_{n = 1}^{N}\;\left( {{a_{n}{\sin\left( {2{\pi{nt}}} \right)}} + {b_{n}{\cos\left( {2{\pi{nt}}} \right)}}} \right)}}},$where f(t) is an arbitrary waveform and when a₀=0 it have zero DCcomponent. The Fourier coefficients can be calculated by multiplyingboth sides of the above equation by sin(2 π n t) or cos(2 π n t) andthen canceling out terms. The coefficients are:

$\frac{a_{n}}{2} = {\int_{0}^{T}{{f(t)}{\sin\left( {2{\pi{nt}}} \right)}{dt}}}$$\frac{a_{n}}{2} = {\int_{0}^{T}{{f(t)}{\cos\left( {2{\pi{nt}}} \right)}{dt}}}$a₀ = ∫₀^(T)f(t)dt = 0

The equation for a₀ holds if the DC component is zero. For the pulsewaveform above, a_(n) is given by:

$\left. {\left. {\frac{a_{n}}{0} = {{{\int_{0}^{W}{{{P\sin}\left( {2{\pi{nt}}} \right)}{dt}}} + {\int_{W}^{T}{\left( {- V} \right){\sin\left( {2{\pi{nt}}} \right)}{dt}}}} = \frac{- {{P\cos}\left( {2{\pi{nt}}} \right)}}{2{\pi n}}}} \right\rbrack_{0}^{W} + \frac{{V\cos}\left( {2{\pi{nt}}} \right)}{2{\pi n}}} \right\rbrack_{W}^{T}$$\frac{a_{n}}{2} = {\frac{- {{P\cos}\left( {2{\pi{nW}}} \right)}}{2{\pi n}} + \frac{P}{2{\pi n}} + \frac{{V\cos}\left( {2{\pi{nT}}} \right)}{2{\pi n}} - \frac{{V\cos}\left( {2{\pi{nT}}} \right)}{2{\pi n}}}$$\frac{a_{n}}{2} = {\left( \frac{1}{2{\pi n}} \right)\left( {P + {{V\cos}\left( {2{\pi{nT}}} \right)} - {\left( {P + V} \right){\cos\left( {2{\pi{nW}}} \right)}}} \right)}$

In a similar fashion:

$\frac{b_{n}}{0} = {{\int_{0}^{W}{{{P\cos}\left( {2{\pi{nt}}} \right)}{dt}}} + {\int_{W}^{T}{\left( {- V} \right){\cos\left( {2{\pi{nt}}} \right)}{dt}}}}$$\frac{b_{n}}{2} = {\left( \frac{1}{2{\pi n}} \right)\left( {{\left( {P + V} \right){\sin\left( {2{\pi{nW}}} \right)}} - {{V\sin}\left( {2{\pi{nT}}} \right)}} \right)}$

By substituting in V from the equation above, the result is:

$\frac{a_{n}}{2} = \frac{{- {{{PT}{co}s}\left( {2{\pi{nW}}} \right)}} + {{{PW}\cos}\left( {2{\pi{nT}}} \right)} + {PT} - {PW}}{{2{\pi{nT}}} - {2{\pi{nW}}}}$$\frac{b_{n}}{2} = \frac{{{{PW}\sin}\left( {2{\pi{nT}}} \right)} - {{{PT}\sin}\left( {2{\pi{nW}}} \right)}}{{2{\pi{nT}}} - {2{\pi{nW}}}}$

FIG. 52 is a flow diagram illustrating a process for maximizingasymmetry. As shown in the flow diagram, the process includes selectinga number of sine waves, and then guessing (estimating) values for W.Fourier coefficients are then calculated, and the time domain of thewave, f(t), is generated according to the equation set forth above. Theamount of asymmetry in f(t) is then calculated. The process may berepeated with different values for W, and the value for W is selectedthat gives the most asymmetry.

Fourier coefficients can be represented by a_(n) and b_(n) as:

${f(t)} = {a_{0} + {\sum\limits_{n = 1}^{N}\;\left( {{a_{n}{\sin\left( {2{\pi{nt}}} \right)}} + {b_{n}{\cos\left( {2{\pi{nt}}} \right)}}} \right)}}$

An alternative representation using sine waves and phase is:

${f(t)} = {A_{0} + {\sum\limits_{n = 1}^{N}\;{A_{n}{\sin\left( {{2{\pi{nt}}} + \phi_{n}} \right)}}}}$

To relate the two representations, the addition of sines formula:sin(α+β)=sin(α)cos(β)+cos(α)sin(β)may be used with:α=2πntβ=ϕ_(n)A _(n) sin(2πnt+ϕ _(n))=A _(n) cos(ϕ_(n))·sin(2πnt)+A _(n)sin(ϕ_(n))cos(2πnt)

Leta _(n) =A _(n) cos(ϕ_(n)) and b _(n) =A _(n) sin(ϕ_(n))∴A _(n)=√{square root over (a _(n) ² +b _(n) ²)}=√{square root over (A_(n) ² cos²(ϕ_(n))+A _(n) ² sin²(ϕ_(n)))}=A _(n)

where

$\phi_{n} = {\tan^{- 1}\left( \frac{b_{n}}{a_{n}} \right)}$

In one scenario, the process shown in FIG. 52 was implemented for arange of sine waves according to the table below.

TABLE I NACT W Asym A₁ ϕ₁ A₂ ϕ₂ A₃ ϕ₃ A₄ ϕ₄ 2 0.33 100% 1 30° 0.5  −30°3 0.25 189% 1 45° 0.71    0° 0.33 −45° 4 0.2  269% 1 54° 0.81   18° 0.54−18° 0.25 −54°

The variable “NACT” in Table I is used to define the number of sinewaves since it can also represent the number of actuators. For two sinewaves, an asymmetry of 100% can be achieved, which indicates there istwice the magnitude in the positive direction (or vice versa). Highernumbers of sine waves can provide even higher amounts of asymmetry asshown in Table I. One example is shown in FIG. 44. Other examples areshown in FIGS. 53-55.

General Synchronized Vibration can be performed with a set ofnon-sinusoidal waveforms. Even without use of Fourier synthesis,asymmetric waveforms can be generated by synchronizing the waveforms tocreate positive interference of two or more waveforms in one direction,and negative interference of two or more waveforms in the oppositedirection. Embodiments with non-sinusoidal waveforms can still have thepeaks of two or more waveforms occur simultaneously with positiveinterference in one direction and also occur simultaneously withnegative interference in the opposite direction.

FIG. 56 shows two triangular waveforms that are synchronized together.Profile 1112 a has twice the amplitude of profile 1112 b, while profile1112 b vibrates at twice the frequency of profile 1112 a. The peaks ofprofile 1112 a and 1112 b occur simultaneously, at times with positiveinterference and at times with negative interference. The combinedwaveform of profile 1112 a and 1112 b will generate an asymmetricwaveform in a similar fashion that the combined waveform in FIG. 44.

To create an especially distinct vibration effect, some LRA vibrationactuators can be operated at an amplitude high enough to push the movingmass into the travel stops, thereby creating an impact force during eachoscillation. The impact with the travel stops will generate a vibrationwaveform that is not sinusoidal. Multiple such actuators can besynchronized together to generate positive and negative interference asinstances of impacts of masses with travel stops. This configuration cangenerate sharp peaks of vibration force, where direction of vibration iscontrollable. These sharp peaks of vibrations could be used to generatehaptic sensations corresponding to impacts such as simulating the recoilof a gun. A wide range of vibration effects can be generated withnon-sinusoidal vibrations. Examples are presented herein that use sinewave vibration waveforms, with the understanding that similar approachescould be generated with other waveforms.

One waveform that can be simulated is referred to as a “missingfundamental” waveform, which takes advantage of a phenomenon of humanperception. As explained in “Music and Connectionism” by Peter M. Todd,D. Gareth Loy, MIT Press 2003, humans may perceive that a sound containspitch of a certain frequency even though that frequency is not presentin the sound if the sound contains higher frequencies that are integermultiples of the low frequency. In haptic applications, low frequencyvibrations may be difficult to generate due to size and powerconstraints, while it may be easier to generate higher frequencyvibrations. A vibration waveform can be generated that does not containa desired low frequency, but does include higher frequencies at integermultiples of the desired low frequency. A person may perceive thedesired low frequency vibration, just as they perceive the missingfundamental in a sound. The perception of a missing fundamental invibration can be enhanced by including audio or visual effects at thedesired low frequency.

The embodiment shown in FIG. 57 can generate asymmetric torques aboutthe mounting platform. A pair of LRAs 1116 a and 1116 b are mountedtowards the top of the mounting platform 1100. A second pair of LRAs1118 a and 1118 b are mounted towards the bottom of mounting platform1100. When the top pair of LRAs is operated with the same magnitude butopposite direction force than the bottom pair, a pure torque isgenerated on the mounting platform. When both the top and bottom pairvibrate with an asymmetric waveform, such as that shown in FIG. 44, thenthe torque vibration is also asymmetric and can apply a higher peaktorque in the clockwise direction than the counterclockwise direction(or vice versa). Furthermore, the amplitude of the asymmetric torquevibration may be controlled by proportionally controlling the peak forcein each LRA.

LRAs generate vibration forces along an axis and thus are described as“Linear Force Actuators.” Other Linear Force Actuators includeslider-crank vibrators, rack and pinion vibrators, linear actuators thatdo not use resonance, pistons, and solenoids. Rocking actuators andpivoting actuators (such as described in U.S. patent application Ser.No. 11/476,436) generate forces that are approximately along an axis andfor many applications can be considered Linear Force Actuators. Indeed,any embodiment described herein as employing LRAs can also beimplemented with Linear Force Actuators or other actuators that generateforces that are approximately along an axis.

A controller for General Synchronized Vibration of a pair of LinearForce Actuators is shown in FIG. 58, which could control embodimentssuch as that shown in FIG. 43. A vibration device controller generatescommands of frequency, f, commanded amplitudes, Ac, and commanded phasepc. A driver circuit generates the voltage and current that drives theactuators. The driver circuit may output a waveform of a sine wave,square wave, triangle wave, or other waveform. The actuator may generatea force waveform that is similar to the waveform output of the drivercircuit. Alternatively, the actuator may generate a force waveform thatdiffers from the waveform output of the driver circuit. For example, thedriver circuit may output a square wave but the actuator may generate aforce that is mostly a sine wave due to the physics of the actuator.

Both LRA and ERM Vibration Actuators take some time to ramp up to speedto generate their maximum force output. Embodiments described hereininclude controllers that may or may not synchronize the actuators duringthe ramp up period. In addition, a Vibration Device may be commanded totransition from one vibration effect to another vibration effect. Duringthis transition time interval, the controller may or may not synchronizethe actuators.

A vibration device controller can be a microprocessor or otherprogrammable device. For each actuator in the vibration device, thevibration device controller can modify the frequency of vibration, thephase of vibration, the amplitude of vibration, or any combination ofthese parameters. The ability to change these parameters allows for asingle vibration device to generate a wide range of waveforms.

The phase and amplitude of the force output of a Vibration Actuatordepends on both the control signal and the physical characteristics ofthe actuator. For example there is often a phase lag between the controlsignal and the force output of the actuator. To distinguish between thewaveform of the actuator outputs and the waveform of the control signal,the subscript “c” notation is used to designate the control waveform.Thus the commanded amplitudes, Ac, and the commanded phase pc are notnecessarily a direct correlation to the actual amplitude and phase ofthe actuator force. For example, the command voltage, V, of a vibrationdevice controller of an LRA actuator driven with a sinusoidal voltagesignal at a frequency ω, with a command phase of ϕc, and a voltage peakmagnitude A_(c), given by:V=A _(c) sin(ωt+ϕ _(c))  (38)

However, due to the phase lag inherent in the actuator and frequencyresponse of the actuator, the steady state force output of the actuator,F_(a), may be given by:F _(a) =A sin(ωt+ϕ)  (39)

The phase lag is the difference between ϕ and ϕ_(c). The frequencyresponse is reflected in the ratio between A_(c) and A. Both the phaselag and the frequency response are functions of the actuator physicsthat can vary with vibration frequency, and which is often representedby an actuator specific Bode plot. For effective implementation ofsynchronized vibration it can be advantageous to take into considerationthe phase lag inherent in each vibration actuator. This can be done byadding an equal but opposite phase offset to the controller waverform sothat the actuator phase lag does not impact synchronization.

One method to implement this offset is to use a look up table, Bodeplot, or algorithm for each actuator that determines the appropriatephase offset for a given vibration frequency. In addition, it can beadvantageous to use a lookup table, Bode plot, or algorithm to determinethe required voltage magnitude needed to generated the desired vibrationforce magnitude. The Fourier synthesis approach and the approach ofmatching positive and negative peaks of vibration described herein areimplemented in reference to the actual phase of the actuator forceoutput rather than the phase of the waveform from the actuator drivecircuits. In order to simplify notation herein, the phase lag due to theactuator physics is generally not included in the equations relating tosynchronization. Rather a more compact notation is used which representsthe vibration force output, F, with the understanding that theappropriate command signal is generated to provided that output. Thecommand signal includes the necessary phase lag and magnitude adjustmentas needed based upon the actuator physics. The magnitude control can beimplemented with a voltage, current, PWM signal of voltage or current,or other type of command used to drive said actuator. The Fouriersynthesis approach and the approach of matching positive and negativepeaks of vibration describe specific target frequency and phase ofvibration for actuators within the vibration device; however, even ifthese target frequency and phase are not exactly met, the overallvibration effect often is close enough to the desired waveform toachieve a desired effect.

Due to manufacturing variations, two actuators that are built on thesame assembly line may have different physical characteristics thataffect their Bode plot, including phase lag, amplitude characteristicsor resonant frequency. In some embodiments a sensor or sensors can beused to detect the phase of an actuator, the amplitude of vibration ofan actuator, or the amplitude and phase. Such a sensor could be anoptical sensor, Hall-effect sensor or other type of sensor that detectswhen a moving mass passes the midpoint or other point of vibration. Onesuch embodiment is shown in FIG. 59, where a sensor 1128 is integratedinto to a Linear Force Actuator 1124 and detects when the moving mass1126 reaches passes a midpoint position. A sensor integrated into anactuator can provide continuous, continual or periodic measurement ofactuator performance and be used to update calibration parameters whilethe device is in use and does not require a specified calibrationperiod.

Another method of sensing is to attach actuators 1124 a and 1124 b tothe Mounting Platform 1100 of the vibration device 1134 as shown in FIG.60. This sensor 1136 could be an accelerometer or other sensor thatmeasures the combined motion or combined force of the mounting platform.

The sensor measurements can be used to self-calibrate the vibrationdevices. A test pattern can operate each actuator separately to identifythe actuator phase lag, force amplitude characteristics, and resonantfrequency. These characteristics can be used to update a lookup table,Bode plot, or algorithm used to generate the voltage commands to theactuators. The combined force of multiple actuators can also be measuredto confirm that the desired force effects are being achieved.Accordingly, the vibration device controller can use the sensormeasurements to update the commanded amplitude, phase, and frequency asshown in FIG. 61.

Embodiments of the disclosure also include configurations with multiplesets of aligned vibration actuators. One such configuration is shown inFIG. 62 that includes two sets of actuators. Set 1 consists of two LRAs1138 a and 1138 b that are both aligned with the x axis of the vibrationdevice 1134. Set 2 consists of two LRAs 1140 a and 1140 b that are bothaligned with the y axis of the vibration device. Set 1 generates forceF_(S1B1) from LRA 1138 a, and generates force F_(S1B2) from LRA 1138 b.Set 2 generates force F_(S2B1) from LRA 1140 a, and generates forceF_(S2B2) from LRA 1140 b.

In the embodiment shown in FIG. 62, the combined vibration force is thevector sum of all the vibration actuators. Using the notation of U.S.patent application Ser. No. 11/476,436, a₁ and a₂ are unit vectorsaligned with the forces from set 1 and set 2 respectively. In onecontrol approach for the embodiment shown in FIG. 62, the waveforms ofboth sets are controlled to have similar shapes but with differentmagnitudes. Magnitude coefficients are designated by the variable A,where the scalar A₁ multiplies the waveform of set 1 and the scalar A₂multiplies the waveform of set 2. The combined force vector,F_(combined), with this control approach with sinusoidal waveforms isgiven by:F _(combined) =a ₁ A ₁(B ₁ sin(ω₁ t+ϕ ₁)+B ₂ sin(ω₂ t+ϕ ₂))+a ₂ A ₂(B ₁sin(ω₁ t+ϕ ₁)+B ₂ sin(ω₂ t+ϕ ₂))  (40)

As described in U.S. patent application Ser. No. 11/476,436, there aremethods for selecting the magnitude of A₁ and A₂ that will generate adesired direction for the vector F_(combined), yet these methods mayonly specify the axis of vibration and not whether the magnitude offorce is positive or negative and thus limit the range of uniquedirection of vibrations to a range of 180 degrees. According to oneaspect of the disclosure, an embodiment allowing control of thedirection of vibration in all 360 degrees of the plane of the MountingPlatform, may have the following parameter relationships:ω₂=2ω₁;ϕ₁=0 and ϕ₂=−90 for a direction between −90 and +90 degrees;ϕ₁=0 and ϕ₂=90 for a direction between 90 and 270 degrees;A ₁ and A ₂ specified by equation 19 above

Numerous other embodiments are possible with multiple sets of alignedvibration actuators. Each set of aligned actuators can generate anarbitrary waveform, p_(AlignedSet). Embodiments of synchronizedvibrations created from arbitrary shaped profiles are described above.Many such embodiments show a single actuator generating each waveform.However, it is also possible to have a set of aligned actuators createthese waveforms. Therefore, such embodiments can be expanded to includeconfigurations where a set of aligned actuators take the place of asingle actuator. In these configurations, the arbitrary waveformprofiles would take the form of the arbitrary waveform, p_(AlignedSet),as discussed herein.

Accordingly, embodiments of asymmetric vibration include 3Dconfigurations and non-orthogonal configurations. An example of twonon-orthogonal LRA Pairs is shown in FIG. 63. These LRAs can generatewaveforms in desired directions throughout the xy plane. The actuatorsin each aligned set can be LRAs, rocker actuators, and other sets ofactuators that generate approximately linear forces. An equationdescribing the combined force vector for M aligned sets with all setshaving similar shaped waveforms but potentially different magnitudes isgiven by:F _(combined) =a ₁ A ₁(p _(AlignedSet))+a ₂ A ₂(p _(AlignedSet))+ . . .+a _(M) A _(M)(p _(AlignedSet))  (41)

The approaches used to determine the values of A described above can beapplied to these configurations as well. A variety of Lissajousvibration patterns are also described above, including lines, circles,ellipses, parabolas, etc. Asymmetric vibration waveforms can be used toproduce larger peak forces during one part of the Lissajous vibrationpattern than another part.

Turning to another aspect of the disclosure, an ERM is depicted in FIG.64. A basic ERM includes a motor 1204, a shaft 1208, and an eccentricmass 1206. The motor 1204 could be a DC brushed motor, a DC brushlessmotor, an AC induction motor, stepper motor, or any other device thatturns electrical energy into rotary motion. The shaft 1208 is a powertransmission element that transmits the rotary motion of the motor intorotary motion of the eccentric mass. However, alternate powertransmission methods could be any means of transmitting the rotarymotion of the motor 1204 into rotary motion of the eccentric mass 1206,such as a belt, gear train, chain, or rotary joint. The eccentric mass1206 could be any body that spins on an axis that is not coincident withits center of mass. Furthermore, the power transmission element mayinclude geometry such that the axis of rotation of the eccentric mass1206 is not necessarily coincident or parallel to the rotation axis ofthe motor 1204, and the eccentric mass 1206 does not necessarily rotateat the same angular velocity as the motor 1204.

One method of generating vibration forces is with an ERM where aneccentric mass is attached to motor shaft. As the motor rotates,centrifugal forces are generated onto the motor. General SynchronizedVibration can be applied to multiple ERMs by controlling the frequencyand phase of rotation of the eccentric masses. FIG. 65 shows oneembodiment for a vibration device 1200 that uses an arbitrary number MERMs; the first two being ERM 1210 a, 1210 b and the last being 1210 m.All ERMs are attached to a mounting platform 1202 and the combinedvibration force of the device is the vector sum from all ERMs.

For the ith ERM, Ai is the amplitude of the vibration force, ωi is thefrequency of vibration, and ϕi is the phase of vibration. The combinedvibration force of the ERMs in FIG. 65 is given in the x and ycoordinates by:F _(Ex) =A ₁ cos(ω₁ t+ϕ ₁)+A ₂ cos(ω₂ t+ϕ ₂)+ . . . +A _(M) cos(ω_(M)t+ϕ _(M))F _(Ey) =A ₁ sin(ω₁ t+ϕ ₁)+A ₂ sin(ω₂ t+ϕ ₂)+ . . . +A _(M) sin(ω_(M)t+ϕ _(M))

FIG. 66 shows one embodiment for a vibration device 1200 that uses fourERMs 1212 a, 1212 b, 1214 a, and 1214 b. All four ERMs are attached to amounting platform 1202 and the combined vibration force of the device isthe vector sum from all four ERMs.

The force and torque imparted by an ERM onto a mounting platform are dueto a combination of the centrifugal force from the rotating eccentricmass, the torque between the stator and rotor of the motor and otherinertial forces such as gyroscopic effects. As the speed of the ERMincreases the centrifugal force increases and typically becomes thedominant portion of the vibration force. Accordingly, once an ERM hassped up, the vibration force imparted by an ERM onto the mountingplatform is close to the centrifugal force imparted by the rotatingeccentric mass.

In one embodiment, the ERMs are configured in counter-rotating pairs,where each ERM in a pair has the same eccentric mass and operates at thesame angular speed but the ERMs rotate in opposite directions from eachother. FIG. 66 shows such an embodiment with a first counter-rotatingpair consisting of ERM 1212 a and ERM 1212 b. The combined vibrationforce of just this first pair is given by:F _(E1x) =A ₁ cos(ω₁ t+ϕ ₁+σ₁)+A ₁ cos(−ω₁ t−ϕ ₁+σ₁)F _(E1y) =A ₁ sin(ω₁ t+ϕ ₁+σ₁)+A ₁ sin(−ω₁ t−ϕ ₁+σ₁)

The phase difference between ERM 1212 a and ERM 1212 b is represented bytwo variables, ϕ₁ and σ₁, where ϕ₁ represents a temporal phase and ishalf of the difference in overall phase and σ₁ represents a geometricangle and is half of the average of the overall phase difference. For anERM the magnitude of the vibration force, A, is equal to mrω², where mis the mass, r is the radius of eccentricity, and ω is the velocity ofangular rotation in radians per second. Through trigonometricidentities, this combined vibration force vector of the first ERM paircan be represented by the equation below. In this configuration, theforce from a single counter-rotating pair generates a sinusoidalvibration force aligned with an axis of force direction defined by theangle σ₁.

$\begin{matrix}{F_{E1} = {2A_{1}{\cos\left( {{\omega_{1}t} + \phi_{1}} \right)}\left\lfloor \begin{matrix}{\cos\left( \sigma_{1} \right)} \\{\sin\left( \sigma_{1} \right)}\end{matrix} \right\rfloor}} & (42)\end{matrix}$

The embodiment in FIG. 66 has a second counter-rotating pair formed byERM 1214 a and ERM 1214 b, with both ERMs having the same eccentric massas each other and operating at the same angular speed as each other butin opposite directions. This second counter-rotating pair generates acombined vibration force of:F _(E2x) =A ₂ cos(ω₂ t+ϕ ₂+σ₂)+A ₂ cos(−ω₂ t−ϕ ₂+σ₂)F _(E2y) =A ₂ sin(ω₂ t+ϕ ₂+σ₂)+A ₂ sin(−ω₂ t−ϕ ₂+σ₂)

In one control method, σ₁ and σ₂ are set equal to the same value, σ, andtherefore both ERM pairs generate a vibration along the same axis andthe combined vibration force vibration force vector of all four ERMs isgiven by:

$\begin{matrix}{F_{ɛ} = {{2A_{1}{\cos\left( {{\omega_{1}t} + \phi_{1}} \right)}\left\lfloor \begin{matrix}{\cos(\sigma)} \\{\sin(\sigma)}\end{matrix} \right\rfloor} + {2A_{2}{\cos\left( {{\omega_{2}t} + \phi_{2}} \right)}\left\lfloor \begin{matrix}{\cos(\sigma)} \\{\sin(\sigma)}\end{matrix} \right\rfloor}}} & (43)\end{matrix}$

In another control method, σ₂ is set equal to π+σ₁ and therefore bothERM pairs generate a vibration along the same axis but the contributionfrom the second ERM pair has a negative sign. With this method thecombined vibration force vibration force vector of all four ERMs isgiven by:

$\begin{matrix}{F_{E} = {{2A_{1}{\cos\left( {{\omega_{1}t} + \phi_{1}} \right)}\left\lfloor \begin{matrix}{\cos(\sigma)} \\{\sin(\sigma)}\end{matrix} \right\rfloor} - {2A_{2}{\cos\left( {{\omega_{2}t} + \phi_{2}} \right)}\left\lfloor \begin{matrix}{\cos(\sigma)} \\{\sin(\sigma)}\end{matrix} \right\rfloor}}} & (44)\end{matrix}$

There are similarities between the application of General SynchronizedVibration to Linear Force Actuators and ERMs. In both cases, thecombined vibration force can be composed of a superposition of sinewaves, and in both cases it is possible to implement asymmetricvibrations. One embodiment asymmetric vibration uses the relativemagnitudes and phases for superposition of two sinusoidal waves. In thisembodiment, the amplitude of the fundamental frequency is twice that ofthe second harmonic. For the embodiment shown in FIG. 66, aconfiguration for high asymmetry is shown in Table II below. TheGeometric Angle, σ, can be selected arbitrarily based upon the desireddirection of vibration. The eccentricity of the second ERM pair isrepresented relative to the eccentricity of the first ERM pair. Thespeed of rotation of the second ERM pair is twice the speed of rotationof the first ERM pair. It should be noted that high levels of asymmetrymay be achieved even if the values specified in Table II are onlyapproximately implemented. For example, in the case of superposition oftwo sine waves, if there is a 30% error in the amplitude of vibration,then 90% of desired asymmetry effect may still be realized.

TABLE II Centrifugal Geometric Frequency of Temporal Force Angle, σRotation Phase, ϕ ERM Magnitude Eccentricity (radians) (radians/sec)(radians) 1212a A₁ m₁r₁ σ ω₁ 0 1212b A₁ m₁r₁ σ −ω₁ 0 1214a (1/2)A₁(1/8)m₁r₁ σ 2ω₁ 0 (or π) 1214b (1/2)A₁ (1/8)m₁r₁ σ −2ω₁ 0 (or π)

Steps of General Synchronized Vibration are shown in FIG. 67 for thecase of a configuration shown in Table II. The time, t, is representedin terms of the period of the fundamental frequency, where T₁=2π/ω₁. Asseen in the uppermost illustration of FIG. 67, at time t=0, the forcesof all ERMs are aligned with the axis of vibration in the positivedirection, and the position of the eccentric masses are all aligned inthe same orientation. Accordingly, at t=0 the combined vibration forcehas a large magnitude. At t=T₁/4 as shown in the center illustration,the combined force vector is in the negative direction along the axis ofvibration, yet the negative magnitude is not at a peak value sincecontribution only occurs from ERM 1214 a and ERM 1214 b, while theforces from ERM 1212 a and ERM 1212 b cancel each other out. At t=T₁/2,as shown in the bottom illustration, the combined force vector is alsoin the negative direction along the axis of vibration, yet the negativemagnitude is not at a peak value since there is negative interferencebetween the first ERM pair (ERM 1212 a and 1212 b) and the second ERMpair (ERM 1214 a and 1214 b). At t=T₁/2 the forces of the first ERM pairare in the opposite direction of the forces from the second ERM pair,and the orientation of the eccentric masses of the first ERM pair is 180degrees opposite the orientation of the eccentric masses of the secondERM pair. Accordingly, asymmetric vibration is generated with a largerpeak force occurring along the positive direction aligned with the axisof vibration. As shown in Table II the temporal phase of ERMs 1214 a and1214 b can also be set to n, in which case asymmetric vibration willoccur with a larger peak force along the negative direction aligned withthe axis of vibration.

Embodiments are possible with a plurality of ERM pairs, as shown in FIG.68 which has N ERM pairs; the first two pairs being 1216 a and 1216 b,and the last pair 1216 n. In one control method the first ERM pair 1216a is rotated at a fundamental frequency, the second ERM pair 1216 b isrotated at twice the fundamental frequency, and so on through all Npairs with the Nth pair 1216 n rotating at N times the fundamentalfrequency. Using Fourier synthesis it is possible to approximate a widerange of waveforms.

In the embodiment shown in FIG. 68, each ERM within a pair can have thesame eccentricity, and each pair can be controlled so that one ERM inthe pair rotates in the opposite direction of the other ERM with thesame rotational speed. Asymmetric vibrations can be generated that havea higher peak force in a direction relative to the peak force in theopposite direction. High amounts of asymmetry can be generated using theprocess discussed above with regard to FIG. 52 (and Table I), whichspecifies magnitudes and phases for each harmonic sine wave. Themagnitude of vibration of an ERM is the product of the eccentricity, mr,and the angular velocity, ω, squared, thus the magnitude of vibration ofan ERM is equal to =ω². Accordingly, the eccentricity of the ith ERM asa function of the relative sine wave amplitude is given by:m _(n) r _(n)=(A _(n) /A ₁)m ₁ r ₁ /n ²  (45)

The phases may be represented relative to the starting time of aspecific waveform of pulse-trains being approximated. In someimplementations it is more convenient to set the phase of the firstharmonic to zero and represent the phases of the other harmonicsrelative to the first harmonic. An equation that converts the phase ofthe nth harmonic, ϕ_(n), to a phase of the nth harmonic relative to thefirst harmonic, is given by:ϕ_(rn)=ϕ_(n)−(ω_(n)/ω₁)ϕ₁  (46)

In addition, the phases may be defined relative a series of sine waves,while the ERM vibration equation Eq. 42 is specified in terms of acosine wave. A cosine wave is a sinusoidal wave, but the phase isshifted by 90 degrees from a sine wave. Table I shows parameters forembodiments that superimpose 2, 3, and 4 sine waves. These parameterscan be converted to relevant parameters for embodiments with 2, 3, and 4ERM pairs, using Eq. 45 and Eq. 46 along with the 90-degree shift forthe cosine representation. Table III, provided below, shows theseparameters for ERM pairs which generate high levels of asymmetry. Themethod described in FIG. 52 can be used to specify parameters for anynumber of ERM pairs.

TABLE III Number of ERM Pairs 2 3 4 Pair 1 Amplitude: A1 1 1 1 Pair 1Eccentricity m₁r₁ m₁r₁ m₁r₁ Pair 1 Relative Phase ϕ_(r1) 0 0 0 (degrees)Pair 2 Amplitude: A2 0.5 0.71 0.81 Pair 2 Eccentricity 0.125 m₁r₁ 0.1775m₁r₁ 0.2025 m₁r₁ Pair 2 Relative Phase ϕ_(r2) 180 180 180 (degrees) Pair3 Amplitude: A3 0.33 0.54 Pair 3 Eccentricity 0.0367 m₁r₁ 0.060 m₁r₁Pair 3 Relative Phase ϕ_(r3) 270 270 (degrees) Pair 4 Amplitude: A4 0.25Pair 4 Eccentricity 0.0156 m₁r₁ Pair 4 Relative Phase ϕ_(r4) 0 (degrees)

Implementing General Synchronized Vibration with ERMs has an advantagethat a wide range of vibration frequencies can be generated withoutbeing restricted to a specific resonance range. As the ERM frequencyincreases the centrifugal forces increase, the ratio of waveformamplitudes of A₁ and A_(n) remains constant. Accordingly, high levels ofasymmetric vibrations can be generated with a single ratio ofeccentricity, as shown in Table II and Table III, over an arbitraryfrequency.

An embodiment with four ERMs is shown in FIG. 69. ERMs 1222 a, 1222 b,1224 a and 1224 b are stacked vertically inside a tube 1220, whichserves as the mounting platform 1202. This embodiment could be used as auser input device which is grasped by the hand, similar to how thePlayStation® Move motion controller is grasped. Configurations withstacked ERMs are convenient for a wide range of hand held devices and toapply vibration forces to a wide range of body parts.

Steps of General Synchronized Vibration are shown in FIG. 70 for thecase of a configuration shown in FIG. 69. The parts shown in FIG. 69 arethe same parts as shown in FIG. 70, but part numbers are not called outin FIG. 70. Each frame of FIG. 70 shows the eccentric masses of the ERMsand a line extending from each mass indicates the centrifugal forcevector that the mass generates. The combined force vector of all ERMs isshown by the thicker line under the ERMs. In the embodiment shown inFIG. 70 the top two ERMs 1222 a and 1224 b are rotating clockwise fromthe top view perspective, and the bottom two ERMs 1222 a and 1224 b arerotating counter-clockwise. Furthermore the top 1224 b and bottom 1224 aERMs have lower eccentric masses and are rotating at twice the frequencyof the middle two ERMs 1222 a and 1222 b.

Other embodiments are possible with different frequency and massrelationships. The time, t, is represented in terms of the period of thefundamental frequency, where T1=2π/ω1. As seen in FIG. 70, at time t=0,the forces of all ERMs are aligned with the axis of vibration in thepositive direction, and the position of the eccentric masses are allaligned in the same orientation. Accordingly, at t=0 the combinedvibration force has a large magnitude. At t=2T1/8 the combined forcevector is in the negative direction along the axis of vibration, yet thenegative magnitude is not at a peak value since contribution only occursfrom ERM 1224 a and ERM 1224 b, while the forces from ERM 1222 a and ERM1222 b cancel each other out. At t=4T1/8 the combined force vector isalso in the negative direction along the axis of vibration, yet thenegative magnitude is not at a peak value since there is negativeinterference between the first ERM pair (ERM 1222 a and 1222 b) and thesecond ERM pair (ERM 1224 a and 1224 b). At t=4T1/8 the forces of thefirst ERM pair are in the opposite direction of the forces from thesecond ERM pair, and the orientation of the eccentric masses of thefirst ERM pair is 180 degrees opposite the orientation of the eccentricmasses of the second ERM pair. The magnitude of the combined vibrationforce is shown by the line beneath the eccentric masses at each point intime.

Another vibration device is shown in FIG. 71, in which the devicecontains two ERMs 1230 a and 1230 b attached to a mounting platform 1202that are rotating in the same direction. When the rotational speed andeccentricity of both ERMs are the same, this configuration is referredto as a Co-Rotating Pair, or “CORERM Pair”. The center between the ERMeccentric masses is referred to as the center of the COREMR Pair. Whenthe angle between the two ERMs is kept at a fixed value of angle, c, theCORERM Pair generates a combined centrifugal force that is equivalent toa single ERM. However, the magnitude of centrifugal force of the CORERMPair is a function of the angle c. When c is equal to zero the combinedforce magnitude is twice that of a single ERM and when c is equal to 180degrees then the centrifugal force magnitude is equal to zero sincethere is no overall eccentricity. Accordingly, when c is close to 180degrees, the centrifugal force may not be the dominant force output ofthe CORERM Pair. Instead, gyroscopic or torque effects may take on alarger proportion of the force and torques applied onto the VibrationDevice. Where A is the magnitude of force from just one of the ERMs inthe pair, ω is the rotational speed, and ϕ is the phase of rotation,then the combined vibration force generated by a CORERM Pair is givenby:

$\begin{matrix}{F_{CORERM} = {2{{{Acos}(c)}\begin{bmatrix}{\cos\left( {{\omega\; t} + \varphi} \right)} \\{\sin\left( {{\omega\; t} + \varphi} \right)}\end{bmatrix}}}} & (47)\end{matrix}$

A single vibration device could operate similar to ERMs as eithercounter-rotating pairs or co-rating pairs. There are a number ofadvantages of operating a vibration device in a mode where some of theERMs function as CORERMs. One advantage is that the magnitude ofvibration can be increased by using a CORERM pair. Another advantage isthat legacy vibration effects can be generated that simulate a singleERM rotating. For example, a haptic interface could be operated at onetime to generate asymmetric vibration forces and at another time tosimulate a single ERM. If users are accustomed to haptic signals from asingle ERM, the CORERM pair allows for such familiar effects to begenerated.

A large number of co-rotating ERMs could by synchronized together inwith no phase offset such that their force magnitudes combine to createa vibration effect similar to a single large ERM. If all the co-rotatingERMs are CORERM pairs with co-located centers, then the center for thecombined force would be the same as for a single large ERM.

Another advantage of using CORERM pairs is that they allow for Fouriersyntheses of a wider range waveforms. One such embodiment is to replaceeach ERM in FIG. 66 with a CORERM pair, which is shown in FIG. 72. ERM1212 a, 1212 b, 1214 a, and 1214 b in FIG. 66 correspond to CORERM 1232a, 1232 b, 1234 a, and 1234 b in FIG. 72. Such an embodiment would besimilar to the original configuration of FIG. 66, but where themagnitude of centrifugal force from each ERM could be adjustedindependently of the speed of rotation (by adjusting the angle c withinCORERM pairs). Fourier synthesis allows arbitrary waveforms to beapproximated with a superposition of sine waves where the amplitude,phase, and frequency of the sine waves can be adjusted. With asufficiently large number of CORERM pairs, any waveform with a zero-DCoffset could be approximated. The embodiment in FIG. 72 also allows thedirection of vibration to be controlled.

Control of amplitude of vibration force can be especially useful inasymmetric vibrations used for haptic applications. A vibration devicecan be grasped by one hand, two hands, held with other body parts,attached to any body part, or placed in contact with any body part.Generally at least two sides of a haptic vibration device are in contactwith a user, and each side contacts the user at somewhat differentlocations on their body. These different locations could be thedifferent sides of a grip of a tube vibration device, such as shown inFIG. 69.

Human perception often requires that a threshold be exceeded before asensory event is perceived. In one embodiment, the magnitude of anasymmetric waveform is adjusted so that on one side of a VibrationDevice low vibration forces are generated that are below a threshold ofperception and on the opposite side higher peak forces are generatedthat are above a threshold of perception. In this manner, a vibrationforce may be perceived on mostly one location that is in contact withthe vibration device, even though the vibration device is in contactwith a number of locations on the body. As the direction of vibration isvaries, the location on the body at which vibration is perceived mayalso vary. This approach uses vibration to generate effects that arevary significantly according to the direction of vibration, and thus areuseful for indicating directional cues.

An embodiment with 2 ERMs in a tube is shown in FIG. 73. In FIG. 73A theERMs 1222 a and 1222 b are mounted close to the center of the tube 1220and thereby reduce the torque vibration that is due to the distancebetween the ERMs. One way of controlling this configuration is tooperate the ERMs in a counter-rotating mode and generate force in aspecified direction, with only a small torque vibration so as tominimize distraction from the force effect. In FIG. 73B the ERMs 1222 aand 1222 b are mounted close to the ends of the tube 1220 and therebyincrease the torque vibration that is due to the distance between theERMs. One way of controlling this configuration is to operate the ERMsin a counter-rotating mode and generate force in a specified direction,while simultaneously generating a large torque vibration effect.

The embodiment in FIG. 69 can also be operated with CORERM pairs. ERMs1224 a and 1224 b can form one pair, and ERMs 1222 a and 1222 b can formanother pair. When both of these CORERM pairs are rotating in the samedirection and have a 180 degree phase difference, there will be no netforce or net torque on the vibration device. However, this embodimentwill create a gyroscopic effect with minimal force or torque vibrations.This implementation could be used to generate the sensation of moving asword or a heavy mass in a video game or other type of simulation.

The forces between an ERM and a mounting platform include bothcentrifugal forces and the motor torque generated between the motorstator and rotor. When an ERM is rotating at operating speed, thecentrifugal forces are typically large and dominate the effect from themotor torque. However, some embodiments can bring effects from the motortorque to the forefront. When two ERMs with parallel axes are operatedas a co-rotating pair with a phase offset of 180 degrees, the twoeccentric masses balance each other out and the centrifugal forcescancel each other out. In this embodiment, the torque about the axes ofrotation can be felt more prominently. The torque about the axis ofrotation is felt during the acceleration and deceleration of therotating masses. Higher torques can often be generated by periodicallyreversing the applied voltage to the motor, since the electromagneticforce (back EMF) in the motor can add to the reverse voltage beingapplied.

Even higher torques about the axis of rotation can be generated by usinga brake to cause a sudden deceleration to a rotating mass. This approachis known as a reaction-wheel method for generating torques, and isuseful when there is no grounded actuator to apply a torque effect. FIG.74 shows an eccentric mass 1206 configured for use as a reaction wheel.A rim 1242 is attached to the eccentric mass 1206, and creates a surfacefor a brake 1244 to contact. When the brake 1244 is actuated arelatively high torque can be generated. The reaction-wheelconfiguration is another example of the wide range of effects thatGeneral Synchronized Vibration can generate. A single vibration devicecan have ERMs that are operated in counter-rotating modes, co-rotatingmodes, and as reaction-wheels.

One embodiment of an ERM Pair uses interleaved masses, an example ofwhich is shown in FIG. 75. In this embodiment, the shapes of theeccentric masses are implemented so that the masses can be interleavedwithin one another yet still rotate independently. With interleavedmasses, both ERMs can share the same axis of rotation. In addition, amass distribution can be implemented such that the eccentric forcesshare the same plane (which can be indicated by the height in the sideview in FIG. 75). Each ERM in the pair has a rotating mass that includesboth an eccentric component, and a symmetric component such as themotor's rotor. The center of mass of the eccentric mass refers to thecenter of mass of only the eccentric component of the rotating mass. Thecenter of mass of the eccentric mass rotates about the axis of rotationof the ERM, yet its position can be projected (in a linear algebrasense) onto a single point on the axis of rotation. With interleavedmasses the geometry and density of the eccentric masses can be selectedsuch that the center of mass of the eccentric masses from both ERMs areprojected onto the same position on the axis of rotation. In thisconfiguration the eccentric forces from both ERMs share the same plane.In FIG. 75, ERM11250 a, contains a motor 1252 a and an eccentric mass1254 a which is shaped with a semi-circle cross section, and ERM21250 b,contains a motor 1252 b and an eccentric mass 1254 b which is shapedwith an arc cross-section. Other shapes of eccentric masses are possiblethat allow for independent rotation of two masses.

In an embodiment with interleaved masses, the ERM pair can generatecentrifugal forces without generating a torque due to the distancebetween the ERMs. Interleaved ERM pairs are useful for generating pureforce vibrations without torque vibrations. Interleaved ERM pairs can beoperated as a co-rotating pair, and thereby vary the amplitude ofvibration independently from the frequency of vibration. A co-rotatinginterleaved pair can switch between a 180 degree angle between the ERMsand a 0 degree angle to rapidly turn the vibration effect on or off.Since there are no torque effects, the complete vibration sensation willbe turned off when the ERMs have a relative phase angle of 180 degrees.In addition, such a configuration can generate a gyroscopic effectwithout generating torque vibrations.

An interleaved ERM pair can also be operated as a counter-rotating pair,and thereby generate a vibration force along an axis. By controlling thephase of the interleaved ERMs, the direction of the vibration force canbe controlled.

Embodiments with 3 ERMs are shown in FIGS. 76A-B. In FIG. 76A, amounting platform 1202 shaped as a tube, holds a center ERM, 1312, anERM 1314 a is located above the Center ERM, and an ERM 1314 b is locatedbelow the center ERM. All 3 ERMs are aligned such that their axis ofrotation is collinear. In this figure, the dimension A is the distancealong the axis of rotation between the projection of the center of therotating eccentric mass of ERM 1312 onto the axis of rotation and theprojection of the center of the rotating eccentric mass of 1314 a ontothe axis of rotation. In a similar fashion, ERM 1314 b is located suchthat it is at a distance B along the axis of rotation between theprojection of the center of its eccentric mass onto the axis of rotationand that of the projection of the center of the rotating eccentric massof ERM 1312 onto the axis of rotation. Furthermore, the ERMs 1314 a and1314 b can be synchronized to operate at the same frequency and samephase, which will generate a combined force centered along the axis ofrotation.

When the distance A times the eccentricity of ERM 1314 a is equal to thedistance B times the eccentricity of ERM 1314 b, then the combinedvibration force from synchronized ERMs 1314 a and 1314 b is projectedonto the axis of rotation at the same point along this axis that thecenter of the eccentric mass of ERM 1312 is projected onto. In thisconfiguration the combined vibration force from all 3 ERMs share thesame plane. With this configuration, a vibration force can be generatedby all 3 ERMs without generating a torque. Accordingly, the embodimentwith 3 ERMs in FIG. 76A can be operated in a mode where it isfunctionally similar to the embodiment with 2 ERMs shown in FIG. 75, butthe embodiment in FIG. 76A uses standard shaped eccentric masses. Theembodiment in FIG. 76A can be operated in a co-rotation mode, where all3 ERMs rotate in the same direction and with the same frequency. ERMs1314 a and 1314 b can be operated with the same phase, and this phasecan be adjusted relative to the phase of the center ERM, 1312, whichwill modulated the amplitude of the vibration force.

If the eccentricity of ERM 1314 a plus the eccentricity of ERM 1314 b isequal to the eccentricity of ERM 1312, then complete cancellation of thevibration forces can occur when all 3 ERMs are rotating. This completecancellation allows for rapid on and off control of vibration forces.The embodiment in FIG. 76A can also be operated in a counter-rotationmode, where the direction of rotation and phase of ERMs 1314 a and 1314b are the same, yet the center ERM, 1312, is operated in the oppositedirection. In the counter-rotating mode, vibration forces along an axiscan be generated, and the direction of the vibration can be controlledby modulation the relative phase of the ERMs. The embodiment in FIG.76A, also can be operated in a mode that is not similar to theinterleaved embodiment in FIG. 75; here, the center ERM can be turnedoff and ERM 1314 a can be operated out of phase with ERM 1314 a tocreate a rocking torque in the device. In addition, each ERM in FIG. New76A can be operated at a different frequency. ERMs with smallereccentric masses often can be operated at higher top frequencies, andthereby the embodiment in FIG. 76A can create even a wider range ofvibration effects.

Another embodiment with 3 ERMs is shown in FIG. 76B. A mounting platform1202 shaped as a tube holds a center ERM, 1312, an ERM 1314 a is locatedabove the center ERM, and an ERM 1314 b is located below the center ERM.All 3 ERMs are aligned such that their axis of rotation is collinear. InFIG. 76B, the dimension A is the distance along the axis of rotationbetween the center of the rotating eccentric mass of ERM 1312 and thecenter of the rotating eccentric mass of 1314 a. ERM 1314 b is locatedat the same distance A along the axis of rotation between its center ofthe rotating eccentric mass and that of the center of the rotatingeccentric mass of ERM 1312.

When the eccentricity of ERMs 1314 a and 1314 b are half theeccentricity of the center ERM 1312, and the ERMs 1314 a and 1314 b aresynchronized to operate at the same frequency and same phase, thencomplete cancellation of vibration forces and torques can occur at aphase offset of 180 degrees. Thus, the embodiment in FIG. 76B can havethe same functional advantages as the embodiment in 76A. A furtheradvantage of the embodiment of FIG. 76B is that two ERMs have identicalspecifications and thus can be more easily manufactured.

An additional embodiment with 3 ERMs is shown in FIG. 77. A mountingplatform 1202, holds a center ERM, 1312, an ERM 1314 a is located to oneside of the center ERM, and an ERM 1314 b is located to the other sidethe Center ERM. All 3 ERMs are aligned such that their axes of rotationare parallel. When all 3 ERMs are rotating in the same direction, theembodiment in FIG. 77 can create similar vibration effects as theembodiments in FIGS. 76A-B; the frequency off all 3 ERMs can be thesame, the phase of ERMs 1314 a and 1314 b can be the same, and therelative phase with the center ERM 1312 will determine the magnitude ofthe vibration force.

To provide complete cancellation of the vibration force, theeccentricity of the rotating mass of ERMs 1314 a and 1314 b can beselected to be half that of the center ERM 1312. Complete cancellationof vibration torques can occur in the co-rotating mode when the centerERM 1312, is located in the center between ERMs 1314 a and 1314 b. Theembodiment in FIG. 77 can also be operated in a counter-rotating mode,where the ERMs 1314 a and 1314 b rotate in the same direction with thesame phase, and the center ERM 1312 rotates in the opposite direction.This counter-rotating mode provides a vibration force along an axis, andthe direction of the vibration force can be controlled by the phases ofthe ERMs. However, in the embodiment in FIG. 77, there will be avibration torque during the counter-rotating mode since the axes of theERMs are not collinear.

The embodiment in FIG. 77 can also be operated in a counter-rotatingmode, where the ERMs 1314 a and 1314 b rotate in the same direction withthe same phase, and the Center ERM 1312 rotates in the oppositedirection. This counter-rotating mode provides a vibration force alongan axis, and the direction of the vibration force can be controlled bythe phases of the ERMs. However, in the embodiment in FIG. 77, therewill be a vibration torque during the counter-rotating mode since theaxes of the ERMs are not collinear.

General Synchronized Vibration of ERMs requires control of both thefrequency and phase of rotating eccentric masses. One method is to use amotor, such as a stepper motor, where the position and speed can bedefined open-loop by specifying a desired series of steps. Anothermethod is to use closed loop control with a sensor or sensors thatmeasure frequency and phase. An ERM with a sensor 1260 is shown in FIG.78. The sensor 1262 can be a continuous position sensor that measuresthe position of the eccentric mass at frequent intervals. Continuoussensors could be encoders, potentiometers, a Hall Effect sensor thatdetects a series of gear teeth or other feature of a rotating object, orother types of position sensors. The velocity of the eccentric masscould be calculated from the time interval between subsequent rotations,through taking the derivative of position measurements, or directlythrough use of a tachometer.

Another method to sense frequency and phase is to use a discrete sensorthat detects when the motor shaft spins by a set position relative tothe motor housing, or a number of set positions relative to the motorhousing. Such discrete sensors can use reflective optical sensors thatreflect off a rotating object coupled to the motor shaft, line-of-sightoptical sensors that detect when a rotating object coupled to the motorshaft interrupts the line of site, hall effect sensors that detect adiscrete component that is coupled to the rotating shaft, or othermethod of discrete detection of the shaft position.

FIG. 79 shows an ERM with a reflective optical sensor 1264 which detectslight reflecting off an eccentric mass 1206. A light source 1268, suchas an LED, is shining onto the pathway of the eccentric mass 1206. Whenthe eccentric mass 1206 rotates by the sensor 1266, light reflects offthe eccentric mass 1206 into the light sensor 1266. For each rotation ofthe eccentric mass 1206 the light sensor 1266 will detect when theeccentric mass 1206 comes into the range of the sensor 1266 and beginsto reflect light, and when the eccentric mass 1206 leaves the range ofthe sensor 1266 and stops to reflect light. The velocity of the ERM 1264can be determined between the intervals of each rotation, such as thetime when the eccentric mass 1206 begins to reflect light. Alternativelythe velocity of the ERM 1264 can be calculated by the duration of timethat the eccentric mass 206 reflects light. The phase of the eccentricmass 1206 can be determined by the timing of a specific event such asthe rising or falling edge of the light sensor 1266 which corresponds tothe time when the eccentric mass 1206 begins and stops reflecting light.

FIG. 80 shows an ERM with a line-of-sight optical sensor 1270. The lightsensor 1266 detects when the eccentric mass 1206 interrupts the lightpath. A light source 1268, such as an LED, is shining onto the pathwayof the eccentric mass 1206. When the eccentric mass 1206 rotates throughthe light path, the sensor 1266 detects the interruption. FIG. 81 showsan ERM with a Hall Effect sensor 1272. The Hall Effect sensor 1274 istriggered when the eccentric mass 1206 rotates by.

Implementing General Synchronized Vibration with ERMs requires that thefrequency and phase be controlled for each ERM that is used tosynthesize the desired waveform. Both the frequency, ω, and phase, ϕ,can be controlled by controlling the position, θ, of the rotating shaftof the ERM to be at a desired position as a function of time.Accordingly, control of frequency and phase can also be equivalent tocontrol of the position of an eccentric mass to a desired positiontrajectory over time. Measurement of the shaft position can be performedcontinuously or at discrete instances such as when the shaft passes acertain position. Continuous measurements could be made with an encoderor other type of sensor that measures positions at frequency intervals.Discrete measurements could be made with an optical sensor that detectswhen the eccentric mass passes by. Discrete measurements could be madeat a single position of motor rotation or at multiple positions.Discrete measurements can be augmented with a second sensor that alsomeasures the direction of rotation. A direction sensor could be a secondoptical sensor mounted close to the first optical sensor. The directionof rotation can be determined by which optical sensor is triggeredfirst.

A wide range of methods can be used for real-time control the positionand speed of an ERM. One method is Proportional-Integral-Control.Another method includes time optimal control as described by “OptimalControl Theory: An Introduction”, by Donald E. Kirk, Dover Publications2004. One real-time control approach is presented below for controllinga set of synchronized ERMs. The approach is written for use with adiscrete sensor, but can also be applied with a continuous sensor. Whena continuous sensor is used, the dynamic performance of the system canbe improved by more accurately updating the commands to the motorcontinuously.

An exemplary control approach for a system with M ERMs is now discussed.For each ERM for i=1 to M, define the desired frequency, ωdes,i, anddesired phase, ϕ_(des,i). The desired direction of rotation is definedas dir_(des,i)=sign(ω_(des,i)). Initialize the following variables:

a. Time, t=0

b. Number of revolutions of each ERM, nrev_(i)=0 (for all i)

Next, start motors turning by providing an open-loop command,V_(open_loop,i), to each ERM corresponding to the desired frequency,ω_(des,i). The open-loop command can be determined by the motor'storque-speed curve and correspond to the voltage that will generate aterminal velocity as the desired value. An optional startup operation isto turn on the motors at a high or maximum voltage to reduce the startuptime. Since sensors exist to detect speed of rotation, the voltage canbe reduced to a desired level when the ERMs reach an appropriate speed.In this fashion the sensors used for synchronization can also be used toreduce the startup time of the overall vibration device. As each ERMpasses its discrete sensor:

-   -   a. Measure the time and record: t_(meas,i)=t    -   b. Calculate the desired position at the measured time:        θ_(des,i)=ω_(des,i) t _(meas,i)+ϕ_(des,i)    -   c. Calculate the measured position, θ_(meas,i), at the measured        time:        -   Increment the number of revolutions: nrev_(i)=nrev_(i)+1        -   θ_(meas,i)=2π dir₁ nrev_(i)+θ_(sensor_offset,i)        -   θ_(sensor_offset,i) is based upon the mounting location of            the discrete sensor, and is often equal to zero.        -   dir_(i) is the actual direction of the ERM rotation.            Typically the ERM will be rotating in the direction of the            initial open-loop command. However, it is also possible to            use a second sensor input to measure the direction of            rotation, or use the time history of the motor command to            calculate the direction.    -   d. Calculate the error in position, θ_(error,i), for each ERM:        θ_(error,i)=θ_(des,i)−θ_(meas,i)

A control law may be implemented to reduce the position error of eachERM. There are a wide range of control of control approaches in thefield of control, including:

-   -   a. Proportional, Integral, Derivative (“PID”) based upon the        calculated error in position. The command to the motor would be:        V _(com,i) =K _(p,i)θ_(error,i) +K _(I,i)∫θ_(error,i) dt+K        _(D,i) dθ _(error,i) /dt    -   b. Use the open-loop command as a baseline command to the ERM,        since it is based upon the motor's characteristics, and apply        PID to correct for remaining errors. The command to the motor        would be:        V _(com,i) =V _(open_loop,i) +K _(p,i)θ_(error,i) +K        _(I,i)∫θ_(error,i) dt+K _(D,i) dθ _(error,i) /dt        -   The use of the open-loop command can reduce the need for a            large integral control gain, and improve dynamic            performance.    -   c. State-space control approach. The physical state of each ERM        is a function of both its position and velocity. Each time an        ERM passes its discrete sensor, the speed of revolution can be        calculated from the time interval since the last sensor        measurement. The state-space approach uses both the position and        velocity to determine an appropriate control signal. For the        durations where no sensor measurements are made, a state        observer can be used to estimate the motor's position and speed,        where the model of the state observer is based upon the physical        properties of the motor and rotating mass.    -   d. Use bang-bang control, which operates the motor at maximum        forward command and maximum reverse commands for specified        durations of time. For example, if an ERM is operating at the        correct speed but position has a phase lag, then the motor        should be accelerated for a duration of time and then        decelerated back to the original speed for a second duration of        time. A physical model of the motor dynamics can be used to        determine the appropriate durations of acceleration and        deceleration.

With all control approaches a bidirectional or unidirectional motordriver could be used. An advantage of using bidirectional motor driversis that high levels of deceleration can be applied to an ERM by applyinga reverse voltage, even if the motor never changes direction ofrotation. This approach can reduce the time it takes to synchronize theERMs. Another advantage of using bidirectional motor drivers is thatERMs could be operated in both counter-rotating and co-rotating modes.

An alternative method of calculating the position error is discussedbelow. Where the desired force is represented by Ai sin(ωit+ϕi) and thedesired position is represented by θ_(i)(t)=ω_(i)t+ϕ₁, start all ERMs atopen loop voltages corresponding to ω_(i). Let the motors spin up tospeed when ERM 1 passes the sensor so that it starts in phase, thenreset the timer so t=0. See Table IV below.

TABLE IV Control of ERM Time at θ θ θ which mea- desi- desi- Changesensor is sured red red in θdes triggered (θ_(meas)) (θ des) Δ t(θ_(des)) (Δθdes) Δθ_(meas) θ_(error) t₁ 0 ωt₁ + ϕ θ_(des) − θ_(meas) t₂2π ωt₂ + ϕ t₂ − t₁ ωΔt + 2π θ_(error) = θ_(des)_prev θ_(error)_prev +Δθ_(des) − Δθ_(meas) t₃ 4π ωt₂ + ϕ t₃ − t₂ ωΔt + θ_(des) − 2πθ_(des)_prev θ_(des)_prev

In a digital system, ERM control may include the following. First, setrotation counts per revolution (e.g., 256 or 512). Correct for timeroverflow so Δt=t₁−t_(i-1) is always correct. Define w in terms ofrotation counts per timer counts. And use interrupts (or otheroperations) to avoid missing when an ERM passes by a sensor.

Some embodiments of Synchronized Vibration Devices can be controlledsuch that the combined force and torque sum to zero. In such anembodiment the force and torques from individual Vibration Actuatorsbalance each other out to generate a net zero force and torque. Anadvantage of such an embodiment is that Vibration Actuators can bebrought up to speed and put into a mode when no vibration effects aregenerated. When vibration effects are desired, they can be quicklyimplemented by modifying the phase of the vibration, without the lag forbringing the actuators up to speed. This embodiment is referred to as“Spinning Reserve”, and is analogous to the same term used for kineticenergy in an electric utility power plant that is held in reserve toquickly provide power when needed. The spinning reserve approach allowsvibration to be quickly turned on and off. Spinning Reserve embodimentscan include ERM actuators that are spinning in such a manner that thecombined forces and torque sum to zero. Spinning Reserve embodiments canalso include with LRA actuators and other resonant actuators that arevibrating in such a manner that the combined forces and torque sum tozero.

The spinning reserve approach has the advantage of fast on and offresponse times, but also can require increased power consumption sincethe vibration actuators are operated even when no overall vibrationeffects are generated. To reduce the added power consumption, thevibration actuators can be spun up to speed at the first indication thata need for vibration force is imminent. Such indications could be akeystroke, computer mouse motion, user touching a touch-screen, movementdetection via a sensor of a game controller, beginning of a game portionwhere vibration effects are used, or any other event that would indicatethat a desired vibration effect would be imminent. In a similar fashionpower can be conserved by spinning down and stopping the actuators oncethe need for vibration is no longer imminent. Indications to spin downthe actuators could include passage of a set amount of time where nouser input is registered, transition to a new phase of a computerprogram where vibration effects are no longer needed, or otherindication. During the spin up and spin down of the actuators, theactuators can by synchronized so that they operate in a spinning reservemode and do not generate a combined vibration force. In this fashion,the user will not feel the spin up and spin down of the vibrationactuators.

A spinning reserve embodiment with 4 ERMs is shown in FIG. 82.Synchronized Vibration can be applied to the embodiment shown in FIG.82, where the combined forces and torque cancel each other out. In onesuch embodiment the eccentricity and rotational inertia of ERMs 1190 a,1190 b, 1192 a and 1192 b are equal to each other. In one such controlmethod all 4 ERMs rotate in the same direction. The frequency and phasecould be as shown in Table V below. The synchronized phases within a setof ERMs, can be controlled relative to each other and not just relativeto absolute time. Accordingly, the phases shown in Table V and othertables in this document only represent one set of phases in absolutetime that achieve the described effect. Other phase combinations canachieve similar effects.

TABLE V ERM 1190a ERM 1192a ERM 1192b ERM 1190b Frequency ω ω ω ω Phase−90° 90° 90° −90°

FIG. 83 shows the forces of the ERMs from Table V as the ERMs progressthrough time, wherein each row of images illustrates one time slice (8slices in all). The parameters for frequency and phase shown in Table Vcorrespond to the force vectors shown in FIG. 83. In a similar fashionother configurations and control methods of vibrations devices can alsobe simulated.

Another method of Synchronized Vibration can be applied to theembodiment shown in FIG. 82, where the combined forces and torque canceleach other out. In such a control method ERM 1190 a rotates in theopposite direction of ERM 1190 b, and ERM 1192 a rotates in the oppositedirection of ERM 1192 b. The frequency and phase could be as shown inTable VI.

TABLE VI ERM 1190a ERM 1192a ERM 1192b ERM 1190b Frequency ω ω −ω −ωPhase −90° 90° 90° −90°

When ERMs are rotating they generate a gyroscopic effect due to theangular inertia of the motor rotor and rotating mass. When the angularvelocity of the ERMs is large this gyroscopic effect can be used togenerate a haptic sensation in response to changes in orientation of thevibration device. The implementation of spinning reserve as shown inTable V has a gyroscopic effect since all ERMs are rotating in the samedirection and their angular inertia combined. The implementation ofspinning reserve as shown in Table VI does not have a gyroscopic effectsince half the ERMs are rotating in the opposite direction of the otherhalf, and therefore angular inertias cancel each other out whenrotational inertias are equal. The mode of implementation of spinningreserve can be selected according to the desired gyroscopic effect.

Another method of Synchronized Vibration can be applied to theembodiment shown in FIG. 82, where the combined forces generate a forcealong the x axis and the torques cancel each other out. The frequencyand phase could be as shown in Table VII.

TABLE VII ERM 1190a ERM 1192a ERM 1192b ERM 1190b Frequency ω −ω −ω ωPhase 0° 0° 0° 0°

Another method of Synchronized Vibration can be applied to theembodiment shown in FIG. 82, where the combined forces generate a forcealong the y axis and the torques cancel each other out. The frequencyand phase could be as shown in Table VIII.

TABLE VIII ERM 1190a ERM 1192a ERM 1192b ERM 1190b Frequency ω −ω −ω ωPhase 90° 90° 90° 90°

Indeed Synchronized Vibration can be applied to the embodiment shown inFIG. 82, where the combined forces generate a force along any axis inthe XY plane. The control that implements an axis at 30 degree and thetorques cancel each other out is shown in Table IX.

TABLE IX ERM 1190a ERM 1192a ERM 1192b ERM 1190b Frequency ω −ω −ω ωPhase 30° 30° 30° 30°

Another method of Synchronized Vibration can be applied to theembodiment shown in FIG. 82, where a combined torque is generated andthe forces cancel each other out. One such pure torque embodimentgenerates equal amplitudes torque in the clockwise and counterclockwisedirections, and is referred to as a symmetric torque implementation. Thefrequency and phase that generates a symmetric torque could be as shownin Table X.

TABLE X ERM 1190a ERM 1192a ERM 1192b ERM 1190b Frequency −ω ω −ω ωPhase −90° −90° 90° 90°

Another implementation of pure torque can produce an asymmetric torque,where the peak torque in the clockwise direction is larger than the peaktorque in the counterclockwise direction, or vice versa. One suchasymmetric torque implementation for a 4 ERM configuration could be asshown in Table XI. This is achieved by operating ERMs 1192 a and 1192 bat twice the frequency of ERMs 1190 a and 1190 b, and controlling thephase appropriately. For the configuration shown in FIG. 82, when allERMs have the same eccentricity, the amount of asymmetry in the torquecan be increased by placing ERMs 1192 a and 1192 b at a distance of ⅛thfrom the center relative to the distances of ERMs 1190 a and 1190 b.

TABLE XI ERM 1190a ERM 1192a ERM 1192b ERM 1190b Frequency ω 2ω 2ω ωPhase −90° −90° 90° 90°

Yet another method of Synchronized Vibration can be applied to theembodiment shown in FIG. 82, where all ERMs rotate together and forcesdo not cancel each other out. This implementation generates an effect ofone large ERM that would have the eccentricity of all ERMs combined. Thefrequency and phase that generates a symmetric torque could be as shownin Table XII.

TABLE XII ERM 1190a ERM 1192a ERM 1192b ERM 1190b Frequency ω ω ω ωPhase 0° 0° 0° 0°

A wide range of haptic effects can be generated by switching between thevarious effects described herein. When the ERMs are rotating at the samespeed in two different effects, the change between effects (includingthe no-vibration spinning reserve) can be achieved quickly. In manycases the change in effect only requires a positive or negative phasechange of 90 degrees in specific ERMs.

Embodiments with 4 ERMs that are not aligned along the same axis alsocan generate many useful effects. FIG. 84 shows an embodiment of 4 ERMs.When this embodiment is implemented with 4 ERMs with the sameeccentricity, a spinning reserve effect can be generated with samefrequency and phases shown in Table V. In FIG. 84 the center of ERM pair1194 a and 1194 b, has the same center as ERM pair 1196 a and 1196 b.Indeed, any embodiment with 2 pairs of ERMs that share the same centercan be controlled in a spinning reserve mode.

The embodiment shown in FIG. 84 can also be controlled to generate apure force vibration along a specified direction, where the torquescancel each other out. The same frequency and phase as shown in TableVII, Table VIII, and Table IX can be used. A symmetric torque can begenerated with this embodiment as well, but with a frequency and phaseas defined in Table V, and replacing ERMs 1190 a, 1190 b, 1192 a, and1192 b with ERMs 1194 a, 1194 b, 1196 a, and 1196 b, respectively.

As discussed above with regard to FIG. 75, interleaved ERM pairs may beemployed according to aspects of the disclosure. Another embodiment ofan interleaved ERM pair is shown in FIGS. 85A-B. As shown in FIG. 85A,an inner eccentric mass 1320 a is driven by motor 1322 a and an outereccentric mass 1320 b is driven by motor 1322 b. The outer eccentricmass 1320 b is shaped so that the walls get thicker going away from themotor 1322 b. This extra thickness compensates for the material requiredfor structural support of the eccentric mass near the motor. As shown inthe side view of FIG. 85B, the inner eccentric mass 1320 a fills thevoid inside eccentric mass 1320 b. The result is that both eccentricmasses 1320 a and 1320 b share the identical center of mass, whicheliminates unwanted torque effects.

Another embodiment of an interleaved ERM pair is shown in FIGS. 86A-C.Here, an inner eccentric mass 1330 a is driven by motor 1332 a and anouter eccentric mass 1330 b is driven by motor 1332 b. The end ofeccentric mass 1330 a that is furthest from the motor 1332 a issupported by a bearing 1334 b, which is installed into eccentric mass1330 b. The end of eccentric mass 1330 b that is furthest from the motor1332 b is supported by a bearing 1334 a, which is installed intoeccentric mass 1330 a. The bearings 1334 a and 1334 b allow for thespinning eccentric masses 1330 a and 1330 b to be supported on bothends. This allows the eccentric masses 1330 a and 1330 b to spin fasterwithout deflection due to cantilever loads, and helps reduce friction inthe motors 1330 a and 1330 b.

The performance of almost any vibration device can be improved byapplying the methods and embodiments of General Synchronized Vibrationdiscussed herein. This approach toward synchronization allows for a widerange of waveforms to be generated including asymmetric waveforms thatgenerate larger peak forces in one direction than the opposingdirection. Applications range from seismic shakers and fruit treeharvesters, to vibratory feeders and miniature vibration applications.The embodiments described herein can replace more expensive actuationdevices that are used to generate complex waveforms of vibrations. Suchapplications include seismic shakers that are simulating specificearthquake profiles, and voice coils that are used to generate complexhaptic effects.

Haptic applications described herein can be used to augment any devicethat has a visual display including computer gaming, televisionincluding 3D television, a handheld entertainment system, a smartphone,a desktop computer, a tablet computer, a medical device, a surgicalinstrument, an endoscope, a heads-up display, and a wristwatch.Implementation of haptic feedback within a system that has a visualdisplay is shown in FIG. 87.

As described herein, Vibration Force cues can be generated in specificdirections, and these directions can be chosen to correspond todirection that is relevant to an object or event that is being shown ona graphic display. FIG. 88 shows a graphic display with an image thathas a direction of interest specific by an angle d. The Vibration Deviceshown in FIG. 88 can generate haptic cues in the same direction toprovide multi-sensory input and enhance the overall user experience.

Moreover, it is be useful to generate haptic cues of directionality forapplications where a person does not have visual cues, such as to guidea blind person or applications where vision is obscured or preoccupiedwith another task. For example, if a person had a handheld device suchas a mobile phone that could generate directional haptic cues throughvibration, and the mobile phone knew its absolute orientation as it wasbeing held and the orientation the person should be in to move forwardto a goal, then the mobile phone could communicate directional hapticcues through vibration (a force, a torque, or a combined force andtorque) that corresponded to the direction and magnitude of the changein orientation the person holding the mobile phone needed to make.

The Vibration Devices describe herein can be used to improve theperformance of existing devices that use vibration. For examplevibration is used in fruit tree harvesting. By allowing the operator togenerate complex waveforms and control the direction of vibration ahigher yield of ripe fruit could be harvested, while leaving unripefruit on the tree. Vibratory feeders are used in factory automation, andtypically involve a significant amount of trial an error to achieve thedesired motion of the parts. By allowing the operator to generatecomplex waveforms and control the direction of vibration it can beeasier to generate the desired part motion and a wider range of partscould be processed with vibratory feeders.

The Vibration Devices described herein allow for a wide and continuousadjustment in areas such as vibration magnitude, frequency, anddirection. To improve performance of a Vibration Device, sensor feedbackcan be used, as shown in FIG. 89. With this approach a Vibration Deviceapplies forces onto an object, and a sensor measures a feature orfeatures of the object. The sensor information is provided to theVibration Device Controller, which can then modify the vibrationwaveform to improve overall system performance. One area of applicationcould be a vibratory parts feeder, where a sensor measures the rate atwhich parts move along a pathway, and the waveform is modified toimprove the part motion. Another area of application could bepreparation and mixing of biological and chemical solutions. A sensorcould measure the effectiveness of the mixing and the vibrationwaveforms could be adjusted accordingly.

One application is to use General Synchronized Vibration for locomotion.FIG. 90 shows an embodiment where a Vibration Device 1200 rests on asurface 1282. There exists friction between the surface 1282 and theVibration Device 1200. Accordingly, motion of the Vibration Device 1200will only occur if a force parallel to the surface 1282 exceeds afriction threshold. In this embodiment, an asymmetric waveform is beinggenerated so that the peak positive force exceeds the friction thresholdand the peak negative force is less than the friction threshold.Accordingly in each vibration cycle the Vibration Device 1200 can bepushed in the positive x direction when the peak force in the positive xdirection exceeds the friction threshold.

However, there will generally be no motion in the negative x direction,since the friction threshold is not exceeded. In this fashion, theVibration Device 1200 will take steps in the positive x direction. Thedirection of motion along the x axis can be reversed by changing thesynchronization of the Vibration Actuators and generating an asymmetricwaveform that has a larger peak force in the negative direction. Alocation device can be made to move in arbitrary directions on a surface1282 by using a Vibration Device 1200 where the direction of vibrationcan be controlled on a plane, such as those shown in FIG. 62 and FIG.66. In a similar fashion a locomotion device can be made to rotate bygenerating asymmetric torque vibrations, such as the one shown in FIG.57.

Vibration is also used for personal pleasure products such asJimmyjane's Form 2 Waterproof Rechargeable Vibrator. Vibration is alsoused for personal massager products such as the HoMedics® Octo-Node™Mini Massager. Vibration is also used for beauty products such as EstéeLauder's TurboLash and Lancôme's Ôscillation mascara applicators. INOVAproduces the AHV-IV Series Vibrators for Vibroseis seismic exploration.General Synchronized Vibration can be used to improve the performance ofsuch products by allowing the user to customize the vibration waveformsand direction of peak vibration forces.

General Synchronized Vibration may also be used in therapeutic medicalapplications. For example a Vibration Device could vibrate a patient'sstomach to aid in digestion, and the patient or a sensor could determinehow to adjust the vibration over time.

II. Savant

Now having developed a foundation of General Synchronized Vibration inthe previous section, the architecture for a “Synchronized Array ofVibration Actuators in a Network Topology” (herein “SAVANT”) is nowpresented to motivate the use of multiple, low-cost actuator componentsin lieu of a single, high-cost actuator. When using multiple actuatorsin an array, the system is able to exhibit various modalities which wewill refer to as dimensions of the SAVANT architecture. These orthogonaldimensions are: performance, bandwidth, reliability, magnitude, spatialand temporal.

The SAVANT architecture is generically applicable to any type oflow-cost actuator, but for the purposes of the present analysis, systemsof linear resonant actuators (LRAs) are discussed. It will first beshown that the analysis for multiple, collinear LRAs can be reduced tothe analysis of a single LRA driven by the sum of the component LRAforcing functions. Then, example implementations of the differentdimensions of SAVANT will be presented and compared with differentsingle-actuator solutions currently available. Finally a discussion ofmulti-dimensional control effects and sequences of these effects will bepresented.

1. Introduction of SAVANT Architecture

Having developed a foundation of General Synchronized Vibration in theprevious section, a new conceptual framework is introduced for creatinghaptic effects with vibration actuators. This architecture is designedprimarily with small, hand-held consumer devices in mind but it isgeneral enough to apply to any device of any size. The basis of thearchitecture is joining small actuator elements together in differentphysical geometric configurations, or network topologies, to create aSynchronized Array of Vibration Actuators in a Network Topology—orSAVANT.

The power of SAVANT is three-fold: to synchronize arrays of low-cost,readily available vibration actuators to emulate superlative singleactuators; to bring together sets of these emulated high-performanceactuators to create almost any desired control effect; and to have anarray of vibration actuators that is fault tolerant.

Any array of rigidly or semi-rigidly coupled actuators whose motions andcontrol schemes have been synchronized with the purpose of havingcharacteristics or producing haptic effects beyond the abilities of anysingle actuator in the array is a SAVANT. Subsets of the set ofactuators in a SAVANT are also called SAVANTs as long as they still meetthe definition.

While the number of actuators in a SAVANT must be at least two, SAVANTsmay be further decomposed into a set of connected SAVANT nodes such thatthe number of actuators in a SAVANT node must only be at least one. Theadvantage of representing a SAVANT as a network of SAVANT nodes is thatit enables the specification of geometric relationships between theSAVANT nodes. The specification of a SAVANT's nodes as a particulargeometrical configuration is defined to be that SAVANT's specificnetwork topology.

Furthermore, the SAVANT node is further defined to be a collection ofrigidly or semi-rigidly coupled actuators in close proximity of oneanother whose resultant vibration effects are designed to appear toemanate from a single spatial point. These groups of actuators are alsoreferred to herein as proximal groups. Groups of actuators that arespatially separated so as to jointly create effects that requirenon-pointlike origin are referred to herein as distal groups or distalnodes.

The network topology of the actuators in a SAVANT determines how theycan be used together. The relevant properties of the SAVANT are thecollinearities of the component actuators, the spanning set ofdisplacement vectors and the relative proximities of the nodes.

The division of an array into SAVANT subsets is fluid. A single devicemay contain a SAVANT having a plurality of synchronized actuators and atany given time these actuators may be functioning in any availablecapacity. For example a device could have a total of six synchronizedactuators: in response to stimulus A the six actuators could be dividedinto three subsets of two-actuator SAVANTs to produce the resultantcontrol effect α; in response to stimulus B, the six actuators couldinstead be divided into two subsets of three-actuator SAVANTs to producethe control effect β. By joining together low-cost component actuatorsto emulate a single actuator with arbitrarily superlative performancecharacteristics, one also gets haptic capabilities unavailable todevices with unsynchronized vibration actuators, such as directionalvibration and asymmetric vibration.

An LRA-type actuator has three performance characteristics that can beimproved by combining multiple actuators together: response time,bandwidth and force output. An array of collinear LRA-type actuators canemulate improvement of any of these separately or at the same time. Forexample, four collinear LRAs could have synchronized control schemessuch that they emulate a single component LRA with a faster responsetime. Alternatively they could be controlled synchronously to emulate asingle component LRA with an increased frequency response range, orbandwidth. Or in a completely separate scenario the same four LRAs couldbe split into two subsets where each subset of two LRAs emulates asingle LRA with increased bandwidth and collectively the two subsetswork together to emulate faster response times.

Since an array of actuators with a given network topology can worktogether to emulate any single improved performance characteristicwithout improving the other two, then in the space of the actuatorcontrol schemes we consider these performance modes to be orthogonal.Thus it is possible for a SAVANT to simultaneously be in multipleperformance modes, but it is not necessary. Later we will consider manyexamples of these control modes as well as combinations of them.

Beyond out-performing single actuator elements, arrays of actuators alsohave available two control modes unique to multiple synchronizedactuators. These modes are referred to as spatial and temporal. SAVANTsrunning in spatial mode can create haptic effects that relate to theuser via their position and orientation in space. For instance a set ofactuators may work together to create a half-wavelength oscillation orthe amplitude of a vibrational effect may change based on the positionof the device (per se relatively to another object or positions relatedto the Earth). In temporal mode, SAVANTs can create vibrational effectsthat interact with the user to create an awareness of time. These caninclude asymmetric waveforms created through Fourier synthesis ofharmonic forcing functions.

Finally, proximal arrays of collinear actuators have a natural safeguardagainst individual component failure. Many devices will use hapticeffects to protect the wellbeing of their users, often in perilous orextreme environments. It is crucial that the vibration actuators arefault tolerant. One of the ways to achieve this is to build inredundancies for the purposes of reliability. Arrays of actuators thatare designed to work together for the purposes of fault tolerantreliability are SAVANTs said to be running in reliability mode.

Because SAVANTs can exhibit these control modalities independently orsimultaneously, they may be combined together into a single vector spacewhich is referred to herein as the SAVANT “Control Space.” This spacespans the haptic capabilities of sets and/or subsets of actuators. Thepurpose of introducing this space and its comprising directions is toabstract the capabilities of groups of actuators. The discussion ofhaptic control schemes can be elevated from “on and off” to sequences ofcontrol effects designed to enhance the user experience beyond today'scapabilities, while only using low-cost components that are readilyavailable today.

All possible haptic effects (within reason) can be created with theSAVANT architecture. In general, a SAVANT of sufficient size can bethought of as a vibration synthesizer, designed to create arbitraryvibrational output either using predefined control sequences or inresponse to external information, e.g., user interface or sensorfeedback. Generically the SAVANT architecture applies to any type ofactuator—and SAVANTs of one actuator type can even emulate anotheractuator type. For instance, two LRA-type actuators can be synchronizedto emulate the output of an ERM-type actuator and vice versa. Given thisduality, all control sequences designed e.g. for an LRA-type SAVANT areequally valid for an ERM-type SAVANT where each LRA-type actuator isreplaced with two synchronized ERMs designed to emulate an LRA.

As previously stated, for the purpose of this inventive disclosure theexamples of specific electronic components are designed for hapticapplications of hand-held devices. The SAVANT architecture is notlimited to actuators of this dimensional scale. That is to say, SAVANTis intended to be applicable at other dimensional scales withappropriate actuators—for example, an array of MEMS LRA actuators whichmight use electrostatic forces in place of electromagnetic forces; orarrays of very large LRAs that may be used for seismic exploration.Moreover, the examples discussed herein are based on a relatively smallnumber of actuators but the architecture is consistent for any number ofactuators. And finally, though the majority of examples in this text areconcerned with homogeneous SAVANTs, it is perfectly acceptable and oftendesirable to have heterogeneous arrays of actuators. Here the notion ofheterogeneity includes both actuators of a similar type with varyingcharacteristics and actuators of different types.

FIG. 91 is a diagram illustrating the six dimensions of the SAVANTControl Space: Bandwidth, Magnitude, Performance, Reliability, Spatialand Temporal.

FIG. 92A illustrates an example of a SAVANT node having a single LRA,1102 a. FIGS. 92A-92J illustrate an example LRA that has a coin-likeshape and has an axis of vibration normal to the surface of the LRA. Asdescribed previously, the minimum number of actuators that a SAVANT nodemust have is one. The minimum number of actuators that a SAVANT musthave is two. Thus it follows, for example, that a 2-SAVANT (that is tosay, a SAVANT having two actuators) may have a network topology ofeither one SAVANT node having two actuators or alternatively two SAVANTnodes each having one actuator. Although an LRA is used in this example,other actuators may be used as long as they are simple harmonic systems,or can be combined or controlled to behave as simple harmonic systems.Some alternatives to LRAs include the various actuator types discussedabove.

FIG. 92B illustrates an example of a SAVANT node having two LRAs, 1102 aand 1102 b, arranged in a stack, with their axes of vibration verticallyaligned.

Correspondingly, FIG. 92C illustrates an example of a SAVANT node havingthree LRAs, 1102 a, 1102 b and 1102 c, arranged in a stack, with theiraxes of vibration vertically aligned.

FIG. 92D illustrates an example of a SAVANT node having two LRAs, 1102 aand 1102 b, in a compact planar arrangement, with their axes ofvibration vertically aligned in parallel.

Correspondingly, FIG. 92E illustrates an example of a SAVANT node havingthree LRAs, 1102 a, 1102 b and 1102 c, in a compact planar arrangement,with their axes of vibration vertically aligned in parallel.

FIG. 92F illustrates an example of a SAVANT node having three LRAs, 1102a, 1102 b and 1102 c, in a compact arrangement with their axes ofvibration spanning three dimensions.

FIG. 92G illustrates a side view (left) and a perspective view (right)of an example of a SAVANT node having three LRAs, 1102 a, 1102 b and1102 c, in a arrangement around three faces of a cube, 2000, with theiraxes of vibration spanning three dimensions.

Correspondingly, FIG. 92H illustrates a side view (left) and aperspective view (right) of an example of a SAVANT node having six LRAs,1102 a, 1102 b, 1102 c, 1102 d, 1102 e and 1102 f, in a arrangementaround the six faces of a cube, 2000, with their axes of vibrationspanning three dimensions.

Correspondingly, FIG. 92I illustrates a side view (left) and aperspective view (right) of an example of a SAVANT node having twelveLRAs in a arrangement around the six faces of a cube with their axes ofvibration spanning three dimensions.

FIG. 92J illustrates a side view (left) and a perspective view (right)of an example of a SAVANT node having four LRAs in a tetrahedralarrangement around the four faces of a tetrahedron, 2004, with theiraxes of vibration spanning three dimensions in accordance with aspectsof the present disclosure.

FIG. 93 illustrates the equivalence between an exact representation ofthe vibration actuators in a SAVANT, 2020, and a triangularly shapedsymbol, 2022, symbolizing a SAVANT node. In accordance with thenomenclature herein, this SAVANT node symbol may represent any of theprevious examples of a SAVANT node, as illustrated in the above FIGS.92A-92J, or any types of actuators and arrangements that meet therequirements of a SAVANT node. For example, FIGS. 85A, 85B, and 85Cillustrate a vibration device having a pair of ERMs. This pair of ERMscan be considered both a SAVANT node and a SAVANT, since it meets therequirements for each.

FIG. 94 illustrates a SAVANT node, 2022, inside an example smartphone orPDA, 2024. In this example, the SAVANT node, 2022 may be attached to thesmartphone case and disposed directly under a floating touch display,2026, such that the floating touch display is capable of vibratingvertically, when the SAVANT node, 2022, is controlled by a controller inthe smartphone, 2024, to produce haptic sensations to a user inaccordance with aspects of the present disclosure. In this manner, theSAVANT node, 2022, can emulate a virtual actuator that can produce thehaptic sensation that a person is pressing a physical button when infact the person is only pressing the floating screen vibrated by theSAVANT node, 2022.

FIG. 95 illustrates a SAVANT, 2034, having twelve nodes in a three byfour arrangement, 2022, inside an example tablet computer, 2030. In thisexample, the SAVANT, 2034, is attached to the tablet computer case anddisposed directly under a floating touch display, 2032, such that thefloating touch display is capable of vibrating vertically, when theSAVANT, 2034, is controlled by a controller in the tablet computer,2030, to produce haptic sensations to a user in accordance with aspectsof the present disclosure. In this manner, the SAVANT, 2034, can emulatea set of virtual actuators that can produce the haptic sensation that aperson is pressing a physical button when in fact the person is onlypressing the floating screen vibrated by the SAVANT, 2034. Since each ofthe twelve SAVANT nodes in this example may be individually orcollectively controlled, various methods to produce localized hapticeffects for a multi-touch display are possible.

Finally, FIG. 96 illustrates a perspective view (top) and a front view(bottom) of an example game controller, 2012, having a module, 2012,with a SAVANT inside. In this example, the SAVANT, not shown, isattached inside the module, 2012, to impart vibrations to the gamecontroller to enhance the realism of gameplay through haptic cues andother haptic sensations, including directional vibrations in accordancewith the present disclosure.

2. EXAMPLE IMPLEMENTATIONS OF SAVANT USING LRA ARRAYS

A. Equation of Motion for an LRA Array

First consider a single LRA. The response function of an LRA is that ofa damped harmonic oscillator with a resonant angular frequency ω₀, amass m and a damping ratio ζ. Usually, though, LRAs are labeled by theirresonant frequency f₀, where ω₀=2πf₀. Generically, the LRA can be drivenwith any arbitrary function of time—usually implemented via the methodsof pulse-width modulation, or PWM—but for simplicity let us justconsider a simple sinusoidal driving force. This simplification iswell-motivated by hardware considerations and as shown below, it isstill quite general. Thus the equation of motion for a single LRA willbe the solution of the differential equation

$\begin{matrix}{{{x^{''}(t)} + {2\zeta\;\omega_{0}{x^{\prime}(t)}} + {\omega_{0}^{2}{x(t)}}} = \frac{f\;\sin\;\left( {{\omega\; t} + \phi} \right)}{m}} & \left( {{Eq}.\mspace{14mu} 101} \right)\end{matrix}$

where ω and φ determine the characteristics of the driving force. If theLRA is starting from rest then the initial conditions are given byx(0)=0, x′(0)=0.

The steady-state maximum amplitude is given by

$\begin{matrix}{{A_{\max}(t)} = \frac{f}{m\;\omega\sqrt{\left( {2\omega_{0}^{2}\zeta} \right)^{2} + {\frac{1}{\omega^{2}}\left( {\omega_{0}^{2} - \omega^{2}} \right)^{2}}}}} & \left( {{Eq}.\mspace{14mu} 102} \right)\end{matrix}$

If we were to have n identical LRAs configured in parallel such that allthe vibration directions were oriented along e.g. the x-axis, then eachLRA would be governed by its own equation

$\begin{matrix}{{{{x_{1}^{''}(t)} + {2\zeta\;\omega_{0\;}{x_{1}^{\prime}(t)}} + {\omega_{0}^{2}{x_{1}(t)}}} = \frac{f_{1}{\sin\left( {{\omega_{1}t} + \phi_{1}} \right)}}{m}}{{{x_{2}^{''}(t)} + {2\zeta\;\omega_{0\;}{x_{2}^{\prime}(t)}} + {\omega_{0}^{2}{x_{2}(t)}}} = \frac{f_{2}{\sin\left( {{\omega_{2}t} + \phi_{2}} \right)}}{m}}\vdots{{{x_{n}^{''}(t)} + {2\zeta\;\omega_{0\;}{x_{n}^{\prime}(t)}} + {\omega_{0}^{2}{x_{n}(t)}}} = \frac{f_{n}{\sin\left( {{\omega_{n}t} + \phi_{n}} \right)}}{m}}} & \left( {{Eq}.\mspace{14mu}(103)} \right.\end{matrix}$and the total response of the embedding system, e.g. a phone or gamecontroller, would be proportional to x(t)=x₁(t)+x₂(t)+ . . . +x_(n)(t).We can reduce the number of equations though by introducing a change ofvariables. LetX(t)=x ₁(t)+x ₂(t)+ . . . +x _(n)(t)  (Eq. 104)which leads toX′(t)=x ₁′(t)+x ₂′(t)+ . . . x _(n)′(t)  (Eq. 105)andX″(t)=x ₁″(t)+x ₂″(t)+ . . . x _(n)″(t)  (Eq. 106)Summing the left-hand sides of Eq. 103 we have

$\begin{matrix}{{\left( {{x_{1}^{''}(t)} + {x_{2}^{''}(t)} + \ldots + {x_{n}^{''}(t)}} \right) + {2\zeta\;{\omega_{0}\left( {{x_{1}^{\prime}(t)} + {x_{2}^{\prime}(t)} + \ldots + {x_{n}^{\prime}(t)}} \right)}} + {\omega_{0}^{2}\left( {{x_{1}(t)} + {x_{2}(t)} + \ldots + {x_{n}(t)}} \right)}} = {{X^{''}(t)} + {2{\zeta\omega}_{0}{X^{\prime}(t)}} + {\omega_{0}^{2}{X(t)}}}} & \left( {{Eq}.\mspace{14mu} 107} \right)\end{matrix}$which we recognize as the equation of motion for a single simpleharmonic oscillator whose position is given by X(t). On the right-handside we are left with the sum of the individual forcing functions.Generically there is no simplification of the addition of sinefunctions. Note though that we can trivially deal with anti-parallelcomponents by reversing the sign of their forcing function. Thus ourarray of n (anti-)parallel LRAs is governed by the single equation

$\begin{matrix}{{{X^{''}(t)} + {2\zeta\;\omega_{0\;}{X^{\prime}(t)}} + {\omega_{0}^{2}{X(t)}}} = \left( {\frac{f_{1}{\sin\left( {{\omega_{1}t} + \phi_{1}} \right)}}{m} + \frac{f_{2}{\sin\left( {{\omega_{2}t} + \phi_{2}} \right)}}{m} + \ldots + \frac{f_{n}{\sin\left( {{\omega_{n}t} + \phi_{n}} \right)}}{m}} \right)} & \left( {{Eq}.\mspace{14mu} 108} \right)\end{matrix}$

Initial Conditions

Interestingly, the initial condition for the array of LRAs is just thesum of initial conditions of the individual LRAs:X(0)=x ₁(0)+x ₂(0)+ . . . +x _(n)(0),X′(0)=x ₁′(0)+x ₂′(0)+ . . . +x_(n)′(0).   (Eq. 109)

This can have unexpected consequences. Consider the case where there isan even number of LRAs with an identical steady-state maximum amplitudeand the steady-state motions of each successive pair are out of phase byn-meaning that when 1, 3 and 5 are at A; 2, 4 and 6 are at −A. Eventhough each individual element is vibrating, the sum of the amplitudesis always zero and there will be no net motion of the embedding system.If one were to change the driving force while the array is in thisstate, it will have the same response as if it were starting from rest.

B. Analysis of Multiple LRAs

In the following sections we will use LRAs to give example controleffects for each of the six dimensions of SAVANT. Since arrays of LRAsare governed by one differential equation, the analysis of multiple LRAsis computationally no different than that of a single LRA. Physicallythough, there are advantages. If a single LRA can be driven with amaximum driving amplitude F, then the n-LRAs system is effectively asingle LRA with a maximum driving amplitude of n×F. The addition ofmaximum driving amplitudes forms the basis of the performance, bandwidthand magnitude modes.

1. Magnitude Mode

A straightforward consequence of having multiple LRAs in a synchronoustopology is that their response amplitudes (and therefore their momentumtransfers to the embedding system) simply add together. In the case oftwo identical, parallel LRAs driven identically, Eq. 108 yields

$\begin{matrix}{{{{X^{''}(t)} + {2\zeta\;\omega_{0}{X^{\prime}(t)}} + {\omega_{0}^{2}{X(t)}}} = {2\frac{F}{m}{\sin\left( {{\omega\; t} + \phi} \right)}}},} & \left( {{Eq}.\mspace{14mu} 110} \right)\end{matrix}$

which is the equation of a single LRA with a maximum driving amplitudeof 2F. Physically this means that if there is a single LRA that canproduce a maximum acceleration of 2g, then two parallel LRAs willproduce a maximum acceleration of 4g; three LRAs could produce 6g, andso on. This is due to the fact that LRAs are linear systems, as shown inthe previous section. This is not the case for rotating actuators suchas ERMs, though the methods of SAVANT are still generically applicableto them. The use of multiple actuators to produce vibrational magnitudesgreater than the capacity of a single component actuator is denotedherein as a SAVANT running in magnitude mode.

2. Reliability Mode

Having multiple LRAs is in the system allows the designer to build inredundant components. This could be particularly useful especially formedical, scientific or military applications or in situations where theembedding device is habitually used in a rugged environment. When adevice contains a group of identical actuators designed for the solepurpose of having built-in redundancy to safeguard against the failureof component actuators, this group of actuators is described as a SAVANTrunning in reliability mode.

3. Performance Mode

Actuators like LRAs are attractive because they are relatively low-cost,their design and control characteristics are well-understood and becausetheir manufacturing infrastructure is already well-developed. Currenttrends disfavor the use of these actuators though because of theirrelatively long response times and narrow bandwidths compared to moreexotic actuators—such as piezo-based solutions. By briefly leveragingthe increased maximum driving amplitude afforded by an array of LRAs,one can bring the total response time down to the same order ofmagnitude as the piezo actuators. In the language of the architecturelaid out in this work, the use of multiple actuators to effectivelyemulate a single, high-performance actuator will be referred to as aSAVANT running in performance mode.

To see how a SAVANT in performance mode compares with individual LRAs,the spring characteristics of a single LRA were modeled from dataprovided by Texas Instruments, Inc. We call this model “MOD1.” The datawas taken from an AAC ELV1411A LRA from AAC Technologies Holdings Inc.which has a rated resonant frequency of 150 Hz and is shown in FIG. 101.In this figure the scale of the x-axis is 10.0 ms/div and the y-axis is100 mV/div.

As shown in this figure, the relative heights and positions of the peaksare determined by the resonant frequency, the driving frequency and thedamping ratio. The overall scale for the y-axis is determined by theforcing amplitude and the mass. One can fit the parameters of the springequation, Eq. 101, by assuming the driving function is at the samefrequency as the resonant frequency; i.e. ω=ω₀. Since we are onlyinterested in relative response times, the resulting motion may berescaled by the steady-state maximum amplitude given by Eq. 102. Thisallows one to easily see the fraction of the steady-state maximumamplitude as a function of time.

The damping ratio was derived by fitting a damped, driven harmonicoscillator with resonant frequency of 150 Hz (driven at the resonancefrequency) to the experimental output in FIG. 101. This ratio was foundto be ζ=0.135. The resonant LRA frequency is assumed to be 150 Hz andthe phase of the forcing function is assumed to be 0 unless otherwisestated. All amplitudes are normalized to the maximum driving amplitudeavailable. Thus an “amplitude of 0.2” refers to an amplitude equal to ⅕the maximum forcing amplitude. The generic harmonic oscillator equationof motion, Eq. 101 along with these experimentally derived parametersconstitute the model MOD1 used extensively throughout this disclosure.

Solving Eq. 101 using the constants for the AAC ELV1411A 150 Hz LRA willgive the response of the LRA as a function of time. In FIG. 102 theabsolute value of this function is plotted. It is noted in this figurewhen the LRA reaches 10%, 50% and 90% of its maximum amplitude. Theresponse times for these amplitudes are roughly 1.53 ms, 6.05 ms and19.75 ms respectively. Although our LRA model, MOD1, of the AAC ELV1411Amay be a simple and basic approximation using a generic linear springLRA model, nevertheless it is useful for our explanation of the SAVANTarchitecture as follows below.

Now consider the effect of two LRAs working together. The most basiccontrol scheme that can be applied is one where at t=0 both LRAs aredriven with their maximum forcing amplitudes for some short time T. Thenat t=r the forcing amplitudes are reduced for each LRA to half themaximum. By running two parallel LRAs together at half their maximumamplitude the resultant steady-state amplitude will equal that of asingle LRA driven at the maximum amplitude. This idea triviallygeneralizes to n LRAs: we initially drive all LRAs at their maximumforcing amplitudes and then after some time the forcing amplitudes arereduced to 1/n; such that the sum of the forcing amplitudes is equal tothe maximum forcing amplitude of a single LRA. It is essential that eachcomponent is still driven at 1/n, rather than, e.g., driving one atmaximum and keeping the others at rest. The reason for this is thatundriven LRAs parallel to the driving force will begin to oscillate andact as dampers on the system.

In FIG. 103 the response of the two-LRA system is presented as afunction of time and it is plotted along with the single LRA case. Theoptimal switching time τ₂ was determined numerically to be τ₂=4.36 ms.For the two-LRA system, the response times are: 1.16 ms, 2.35 ms and6.02 ms for 10%, 50% and 90% respectively. One can see the responsetimes are significantly faster, especially the time to reach 90% maxamplitude, which is almost 70% faster than the single LRA. Note that the2-LRA 90% time is roughly the same as the 1-LRA 50% time, as expected.also it is noted that with two LRAs, the system has already reached itsmaximum amplitude in the second half-cycle.

By adding a third LRA to the system one can achieve even faster responsetimes. In FIG. 104 a 3-LRA system is plotted along with the 2-LRA and1-LRA systems. Again, the optimal switching time τ₃ was determinednumerically to be τ₃=2.57 ms. The 3-LRA system responds the fastest with10%, 50% and 90% max amplitude times of 1.00 ms, 1.91 ms and 2.66 ms. A90% max amplitude response time of 2.66 ms is squarely in competitionwith piezoelectric actuators. The 90% max amplitude response time forthe 3-LRA system is over 55% faster than the 2-LRA system and over 86%faster than the single LRA. In Table 101 we summarize the response timesfor each system. Moreover we see that the 3-LRA system reached 100% ofits steady-state maximum amplitude in the first half-cycle—this factsignals that this control sequence is actually the optimal controlsequence, if we consider only sinusoidal forcing functions.

TABLE 101 Response Times for Multiple LRAs Number 10% Max 50% Max 90%Max Increase over of LRAs Amp. (ms) Amp. (ms) Amp. (ms) 1-LRA 1 1.546.05 19.75   0% 2 1.16 2.35  6.02 69.5% 3 1.00 1.91  2.66 86.5% Responsetimes for 1-LRA, 2-LRA and 3-LRA systems based on our LRA model, MOD1.

4. Bandwidth Mode

Performance mode leverages multiple actuators to emulate a singleactuator with an improved response time. The same emulated increase canalso be seen in bandwidth. Amplitude response for a typical LRA dropsoff exponentially as the driving frequency differs from the resonantfrequency. The response amplitudes are additive though; meaning that atany given frequency, the maximum amplitude for an n-LRA system is ntimes the maximum amplitude of the 1-LRA system. We denote systems ofmultiple, synchronized actuators controlled in a manner as to emulate asingle high-bandwidth actuator as a SAVANT running in bandwidth mode.

In the specific case of the our first LRA model, MOD1, when the drivingfrequency is less than half of the resonant frequency, the steady-statemaximum amplitude drops to roughly ¼ of the maximum resonance amplitude.Thus, with four parallel LRAs one can achieve the steady state maximumamplitude even when the driving force frequency differs greatly from theresonant frequency. In FIG. 105 we plot the frequency response curvesfor 1-, 2-, 3- and 4-LRA systems. The frequency response curves in FIG.105 from bottom to top are: dotted: 1-LRA; dot-dashed: 2-LRA; dashed:3-LRA; solid: 4-LRA. We can see from the graph that even extremely lowdriving frequencies can result in amplitudes greater than the single-LRAresonant-frequency amplitude.

For the system of four 150 Hz LRAs using our LRA model, MOD1, themaximum amplitude while being driven at 1.5 Hz is still 6% higher than asingle LRA being driven at its resonant frequency. The response of the4-LRA system when driven at 1 Hz is almost 90% of the single-LRAamplitude at resonance.

Thus, rather than continually developing more and more exotic actuatorsolutions, one can use the SAVANT architecture to emulate an LRA with anarbitrarily large bandwidth and force output and/or arbitrarily shortresponse time by adding together an arbitrary number of LRAs.

5. Spatial Mode

So far we have only considered parallel configurations of LRAs. But byorienting groups of LRAs along different axes and synchronizing theircontrol schemes, we can also produce spatial vibrational effects.Examples of such effects are linear vibrations along any line within thespace spanned by the vibration axes and circular or ellipticalvibrations in any plane within the vibration-axes space. When the systemof LRAs is working to produce a spatial vibrational effect, we say thatit is running in spatial mode.

Start by considering the action of a single LRA. An LRA is effectively aspring whose mechanical vibrations are oriented along an axis. When theLRA is embedding inside a larger system, it tends to produce vibrationsof that embedding system along the axis of orientation. Now add inanother LRA: one whose axis of mechanical vibration is orientedperpendicular to the first LRA. Since any two non-collinear lines spanthe plane, it is not necessary for the two LRAs to be completelyorthogonal, only that they not be completely parallel. We chooseorthogonal examples for simplicity but more complicated control schemesfor non-orthogonal actuators can be devised using the methods of linearalgebra.

Each LRA will be vibrating along its own axis, but will each be applyinga force to the embedding system. Since the forces they're applying arevectors, we need to take the vector sum to find the resultant force; andtherefore the resultant motion of the embedding system. If these twoidentical, perpendicular LRAs are being driven by identical forcingfunctions, then the resulting motion of the embedding object will besinusoidal in the plane spanned by the two axes of orientation. Themotion of the embedding object will have an angular separation of 45°from either axis, effectively bisecting the vibrational axes (see FIG.106). FIG. 106 shows the resultant motion for orthogonal springs drivenwith the same amplitude and phase. These four snapshots are taken fromthe steady state motion of two LRAs. The line represents the vector sumof the LRA displacements.

The angle of the resulting motion can be changed by changing therelative amplitudes of the forcing functions. If we characterize theresulting motion as the angle it makes with the horizontal axis, thenany arbitrary linear motion can be achieved with forcing amplitudesproportional to {cos(θ), sin(θ)}, where the first is the forcingamplitude of the horizontal actuator and the second is the forcingamplitude for the vertical actuator. For the example above,

we wanted an angle of 45°,

${\left\{ {{\cos\left( {45{^\circ}} \right)},{\sin\left( {45{^\circ}} \right)}} \right\} = \left\{ {\frac{1}{\sqrt{2}},\frac{1}{\sqrt{2}}} \right\}},$which means that we need to drive the actuators with the same forcingamplitudes. If instead we wanted to make an angle of 135°, i.e. themirror-flip of the 45° example, we would drive them with amplitudesproportional to

$\left\{ {{\cos\left( {135{^\circ}} \right)},{\sin\left( {135{^\circ}} \right)}} \right\} = {\left\{ {{- \frac{1}{\sqrt{2}}},\frac{1}{\sqrt{2}}} \right\}.}$This effectively means we would drive them out of phase by 180°. FIG.107A shows what the resulting motion would look like.

The direction of the linear motion can even be made to vary in time. Inthis case, the forcing amplitudes become proportional to {cos(θ(t)),sin(θ(t))}; where now the angle θ is taken to be a function of time.FIG. 106B shows a linear vibrational effect where the orientation of theline moves from horizontal to vertical. The time variation of θ can be apre-defined function specified for particular user experiences or thevalue of θ can be continually or continuously updated by externalsensors or user interface. An example of the latter would be a devicewith a linear vibrational effect that is always oriented north or alongthe radial line between the device and the center of the Earth. Anotherexample would be a device with a linear vibrational effect capable oftracking an external object, such as a lost pet; or a location, such asa store in a mall.

In FIG. 107A we have an illustration of two orthogonal springs drivenwith the same amplitude but out-of-phase by 180°. In FIG. 107B (we havean illustration of a linear vibrational effect with a time-varyingdirection. The line represents the vector sum of the LRA displacements.The amplitudes are given by cos(θ(t)) and sin(θ(t)) where θ(t) is takento be a positive, slowly oscillating function of time, for example:θ(t)=½(cos(t/250)+1)

Instead of forcing the two orthogonal LRAs with the same phase butdifferent amplitudes, we can also produce spatial vibrational effects byforcing them with the same amplitude but different phases. In the caseabove, forcing them with the same amplitude but relative phases of 180°again produced a linear vibration. Instead if we forced them with thesame amplitude but relative phases of 90° we can produce circularvibrations, as shown in FIG. 108A. In the case of circular vibrations,the magnitude of the forcing amplitude will determine the radius of thecircular vibration. The relative signs of the forcing amplitudesdetermine the direction of the rotation. In analogy with the linearvibrations of FIG. 107B, the radius of the circular vibration effect canbe made to vary in time by varying the amplitudes. FIG. 108B shows acircular vibration effect with the radius increasing with time. Againthe time variation of the control effect can be pre-scripted or it canbe informed by external information.

When the amplitudes of the two vibrational directions are different butthey are still forced relatively out-of-phase by 90°, the resultingmotion is elliptical, like that shown in FIG. 109. If we force the twoLRAs with different amplitudes and different phases, then we can produceany generic elliptical pattern, as shown in FIG. 110A. We can also makethis generic elliptical pattern change over time by making the phasesand amplitudes time-dependent functions as illustrated in 110B.

The linear and elliptical vibration effects described above are createdwith proximal SAVANTs: groups of actuators (also known as SAVANT nodes)that are designed to have or appear to have point-like origination.Alternatively, one can create distal SAVANTs; which are which are groupsof actuators that are separated physically but still physically attachedtogether so as to create effects originating from multiple points oreven extended geometries.

For an example configuration of distal SAVANTs running in spatial mode,consider a bar-like object with uniform mass distribution and twoSAVANTs, one placed at either end. Each of the SAVANTs are orientedparallel to each other but perpendicular to the axis-of-symmetry of theobject. If the SAVANTs are forced with the same amplitude butout-of-phase by 180°, they will produce a torque on the object, creatinga rotational vibrational effect. In principle any arrangements ofnon-collinear (non-coplanar) LRA orientations will span 2-space(3-space), but maximal orientations will provide the easiestorientations. For proximal systems these will be orthogonalorientations; distal systems are often best implemented by orthogonal,triangular and tetrahedral configurations. Orientations along the edgesof higher-vertex Platonic solids (e.g. a cube, an octahedron, etc.)could also produce robust haptic possibilities.

Lissajous and Geometric Transformations

The above examples of the line, circle and ellipse vibration effects aremembers of the set of Lissajous curves (see FIG. 111). Various Lissajouscurves may be synthesized by a SAVANT having a sufficient design andfurthermore that geometric transformations including as examples:rotation, scaling and reflection may be used separately or in variouscombinations to synthesize a wide gamut of vibration effects. Thesegeometric transformations may take place in a space of higher dimensionthan the Lissajous curve—for example, a linear vibration (1D) may berotated in the plane (2D) or 3-space (3D) and a circular vibration (2D)may be rotated in 3-space (3D). Furthermore, a control effect maysuperimpose multiple Lissajous curves such that, for example, a helicalvibration effect may be achieved by having one SAVANT subset generate acircular vibration of frequency ω and a second SAVANT subset generatinga linear vibration also of frequency ω that is collinear with thecircle's normal vector passing through its center of rotation.

These control effects may have parameters which control the geometrictransformations, for example: rotation, scaling and reflection. Theparameters may be constant or vary during the effect. The parameters maycorrespond to real-world events, such as having a consumer electronicdevice containing a SAVANT, such as a remote control, generate acircular vibration that scales in magnitude based on its proximity to afixed point in space. Alternatively, a parameter may vary with thedistance to a real moving target, or a virtual moving target may onlyexist as a computer-generated object that is rendered haptically, andwhich may displayed optionally simultaneously in other sensorymodalities for example vision or audition.

In many instances of designing real-world devices, the designer may berequired to fit the physical components of a SAVANT into a form factorthat does not allow optimum orientations. However, as long as thedisplacement directions (or axes of rotation for ERM-type SAVANTs) arenot collinear then one can still create control effects that span theplane by decomposing the motion vectors into orthogonal components usingthe methods of linear algebra. An example of this might be a hand-heldcontroller (such as the Xbox 360 Wireless Controller from MicrosoftCorporation) that includes two non-collinear ERMs whose design placementmaximizes the user's proximity to the actuators. In this case the axesof rotation of the ERMs are not orthogonal nor are they collinear. Thusto create synchronized control effects for these two ERMs one must firstdecompose the relevant vectors into orthogonal components and thenrefine the orthogonal actuator control schemes accordingly.

6. Temporal Mode

All of the SAVANT systems explored thus far have been homogeneoussystems. We can also consider the possibilities offered by heterogeneousSAVANTs. For example, consider a system of two parallel LRAs: one with aresonant frequency of 175 Hz and one with a resonant frequency of 180Hz. By driving them separately at their resonant frequencies, theresulting steady state motion will have a beat pattern, as shown in FIG.112. In terms of the SAVANT architecture, when multiple actuators aredriven together but at different frequencies, we refer to this asrunning the SAVANT in temporal mode. Running a SAVANT in temporal modeto create asymmetric waveforms allows for devices to create effects suchas pulsating or jerky, inhomogeneous (though still periodic) motion.

Generically the superposition of two oscillators oscillating at twodifferent frequencies will result in a beat pattern. If the twofrequencies are integer multiples of one another then the oscillatorscan be considered as part of a Fourier series. Fourier synthesis ofmultiple actuators driven at various harmonics of a given fundamentalenables a device to approximate any (finite and bounded) vibrationaloutput via Fourier decomposition. For example, FIG. 113 shows anapproximation of a Sawtooth wave produced by the steady-state motion offive oscillators. The oscillators are each driven in multiples of thefundamental frequency, f₀=25 Hz, and the amplitudes are given by thecoefficients of the Fourier series approximation of the linear functionf(t)=t. The curve represents the vector sum of the steady-statedisplacements of five parallel LRAs. The LRAs have resonant frequenciesof 25 Hz, 50 Hz, 75 Hz, 100 Hz and 125 Hz and each is forcedindependently at its resonant frequency. The relative forcing amplitudesare: 2, 1, ⅔, ½, ⅖; and the relative phases are: 0°, 180°, 0°, 180°, 0°.These amplitudes are the coefficients of the first five terms in theFourier series expansion of the function f(t)=t.

Prior to the introduction of the General Synchronized Vibration approachas described above and the SAVANT architecture, as described here, thecapability to generate haptic vibration waveforms with many harmonicshas been extremely limited due to the cost and availability of highbandwidth actuators such as Electro-active Polymers. But by creatingsynchronized systems of multiple lower-cost vibration actuators, one canleverage the increased bandwidth (see Section 3.2.4) to approximatearbitrary vibrational output by: computing the Fourier series of thefunction matching the desired output; truncating the series at thedesired approximation; and then matching each term in the approximationto a SAVANT.

In the example of the Sawtooth wave above, instead of having fiveactuators—each with different resonant frequencies—one could insteadhave five SAVANTs. Each SAVANT would correspond to a term in the Fourierseries approximation and each would be designed to provide theappropriate amplitude at the corresponding driving frequency. Forexample, the first term in the series is

${2{\sin\left( \frac{t}{40} \right)}},$where t is measured in milliseconds and the amplitude of 2 means twicethe steady state maximum amplitude of the single 150 Hz LRA. Rather thanbuilding an LRA specifically designed to give the appropriate amplitudewhen driven at the frequency, a SAVANT of eight 150 HZ LRAs couldprovide the necessary output. The eight LRAs would effectively be aSAVANT running in magnitude and bandwidth modes. The remaining terms inthe series approximation would each be created by a SAVANT in the samefashion.

The bandwidth gains from just one extra parallel LRA are significantcompared to the single LRA. In FIG. 114 we plot the vibrational effectresulting from the sum of three 2-LRA systems based on our LRA model,MOD1. The first 2-LRA system is being driven at a frequency f₀=22.5 Hz,the second and third at f₀=2f₀ and f₂=3f₀ respectively. The amplitudesfor them are (respectively): 1, 1 and 0.4, in units of the 2-LRA maximumdriving frequency. The resulting motion is a quick jerk back-and-forthfollowed by a rest. FIG. 115 shows the same 2-LRA systems being drivenat 4.5 Hz, 9 Hz and 13.5 Hz. Even at these low driving frequencies, themaximum amplitude response is comparable to a single LRA being driven atresonance.

3. EXAMPLE CONTROL SEQUENCES

In Section II above, we developed some of the individual advantagesmultiple actuator systems have over single actuators. We now describehow those advantages can be made to work together and lay the frameworkfor how to create a SAVANT system that will produce any desiredvibrational output. Any possible vibrational effect can be decomposedinto the 6-dimensional control space of the SAVANT architecture.Vibrational effects are only limited by the number and relativeorientations of actuators in the SAVANT. The relative orientations ofthe actuators in a SAVANT will dictate the spatial and temporalcharacteristics while the number of actuators oriented together in agiven direction will determine the performance, bandwidth, magnitude andreliability characteristics.

We define a “control effect” as a set of predetermined sequences ofcontrol signals for each actuator in the array, such as the exampleeffects in Sections II(B)(1)-(6) above. They can be triggered by a userinterface with the device or by internal triggers, such as informationfrom on-board sensors. Running a SAVANT in a single mode constitutes acontrol effect which makes use of a single dimension of the6-dimensional control space. It is easy to construct control effectswhich simultaneously make use of multiple dimensions of the controlspace. We refer to these as multi-dimensional control effects.

h-Pulse

Control effects leverage the power of multiple actuators to producedesired mechanical responses without the limitations inherent to singleactuators. Let us look at an example for the familiar 3-LRA case:

When the optimal response time control sequence outlined in SectionII(B) (3) is used in conjunction with an optimal braking strategy, theresultant waveform is a sequence of an integer number ofhalf-wavelengths. This entire control effect is referred to as an“h-pulse.” An h-pulse is defined such that the system starts from rest,vibrates at the maximum amplitude for some time (with no ramp-up time)and then immediately stops vibrating. In FIG. 116 we plot thevibrational output for a 3-LRA system exhibiting an h-pulse. The controleffect makes use of the optimal response of the performance mode and theoptimal braking strategy. The curve represents the summed displacementof three in-phase LRAs. At t=0 ms, apply to each LRA a forcing functionwith amplitude 1. At t=2.57 ms change the forcing amplitudes to ⅓. Att=51.07 ms change the forcing amplitudes back to 1 and change the phaseof each forcing function by 180°. At t=52.33° turn off the forcingfunctions.

Since the h-pulse control effect must go from maximum mechanicalvibration to no vibration, it can have any duration that is an integermultiple of half-wavelengths. For a 150 Hz LRA, since there are twohalf-wavelengths per cycle, that means one can create h-pulses withdurations n×3.33 ms, where n is any integer. This duration can bechanged by using pairs of LRAs running in bandwidth mode and driving theSAVANTs at lower frequencies.

Amplitude Seeking

We can arbitrarily rescale an h-pulse by rescaling all of the forcingamplitudes in the control sequence by some scaling factor. This willallow us to have h-pulses of any arbitrary mechanical vibrationalamplitude. For instance, in FIG. 117 we have scaled the h-pulse down to20% of the maximum. Previously, the forcing amplitudes for each LRA wereinitially 1 (in units of the maximum forcing amplitude); at 2.66 ms theforcing amplitudes were dropped down to ⅓, at 51.07 ms they were shiftedout-of-phase by 180° and at 52.33 ms they were set to 0. Now, to createan h-pulse scaled down by 0.2, the forcing amplitudes are initially0.2×1; at 2.66 ms they change to 0.2×⅓, at 51.07 ms they are shiftedout-of-phase by 180° and at 52.33 ms they are set back to 0. The controlsequence is identical except that all forcing amplitudes are scaled by afactor of 0.2.

We can use sequences of scaled h-pulses to create an amplitude seekingcontrol scheme, as shown in FIG. 118. Here the mechanical output of thesystem is a sequence of half-wavelengths, each of a desired amplitude.In this example we have specified the system to have mechanicalamplitudes of 1, ⅕, and ¾ the maximum amplitudes. The scaled h-pulsecontrol sequences were initiated at 0 ms, 10 ms and 20 ms and the systemtook about 3 ms to reach the desired amplitude. The curve represents thesummed displacement of three in-phase LRAs. Each LRA is drivenidentically and the forcing amplitude can be represented as thispiecewise function of time (where t is measured in milliseconds):

${\mathcal{A}(t)} = \left\{ \begin{matrix}1 & {0 < t < 2.57} \\\frac{1}{3} & {2.57 < t < 4.24} \\{- 1} & {4.24 < t < 5.5} \\0 & {5.5 < t < 10} \\\frac{1}{5} & {10 < t < 12.57} \\\frac{1}{15} & {12.57 < t < 14.24} \\{- \frac{1}{5}} & {14.24 < t < 15.5} \\0 & {15.5 < t < 20} \\\frac{3}{4} & {20 < t < 22.56} \\\frac{1}{4} & {22.56 < t < 24.234} \\{- \frac{3}{4}} & {24.24 < t < 25.5}\end{matrix} \right.$

The negative amplitudes can be implemented with positive forcingamplitudes but changes in the forcing phase by 180°. The forcingfunctions are turned off at t=25.5 ms.

It is possible to create amplitude seeking control sequences with evenless time between pulses, but due to the overlap from previous pulses itrequires a more detailed algorithm analysis.

Performance ⊗ Magnitude

A simple example of a multi-dimensional control effect is performance ⊗magnitude (see the discussion below for an explanation of the tensorproduct notation). The purpose of performance mode is to have a fasterresponse time than a single actuator; the purpose of magnitude mode isto have a stronger mechanical vibration than a single actuator. We cancombine these modes when we want to mimic a single actuator that is bothfaster and stronger than any available component actuator. For thespecific case of the 150 Hz LRA discussed above, it was found that theoptimal response time required 3 LRAs. Let us then construct a systemwith 6 LRAs, all oriented along the same axis. We want to position theLRAs as tightly as possible so that the resulting effect will be aspoint-like as possible. To achieve the performance ⊗ magnitude controleffect (assuming the LRAs are initially at rest):

1) Drive each LRA with a sinusoidal forcing function at the maximumamplitude. The phase won't affect the results much.

2) After some pre-determined optimal time τ, change the forcingamplitudes to ⅙ of the maximum amplitude. For the AAC ELV1411A 150 HzLRA this optimal time is τ=2.57 ms.

3) After the desired vibration duration, stop forcing the LRAs. Thevibration will damp out in the same time it would take a single LRA todamp out. Alternatively one could apply a braking method.

We note that the control schemes can generically be broken up into twophases: intervals where the SAVANT is outperforming a single componentactuator and intervals where the SAVANT is emulating a single componentactuator.

Performance ⊗ Magnitude Revisited

We can use performance mode to create extremely fast response andbraking times and these allows us to create scaled h-pulses. We canconcatenate sequences of these scaled h-pulses to create hapticgradients. These gradients can be scripted effects triggered by sensorinformation or controlled by a user interface such as a touchscreen.Relying on peoples' inherent ability to detect gradients, these systemscould be used as input devices or as devices that give location feedbackfor the vision impaired. We can make the mechanical output of thesegradients arbitrarily large by using multiple 3-LRA systems, effectivelyleveraging the magnitude mode.

FIG. 119 shows an example of a vibrational gradient produced with a3-LRA system. The mechanical vibration of the system is ramped up indiscrete steps in response to a user input. The curve represents thesummed displacement of three in-phase LRAs. Each LRA is drivenidentically and the forcing amplitude for each is represented as thispiecewise function of time (where t is measured in milliseconds):

${\mathcal{A}(t)} = \left\{ \begin{matrix}\frac{1}{15} & {2.57 < t < 49.24} \\\frac{2}{15} & {53.99 < t < 100.66} \\\frac{1}{5} & {{0 < t < 2.57} ⩔ {104.82 < t < 151.49}} \\\frac{4}{15} & {157.52 < t < 204.19} \\\frac{1}{3} & {210.85 < t < 257.53} \\\frac{2}{5} & {51.42 < t < 53.99} \\\frac{3}{5} & {102.25 < t < 104.82} \\\frac{4}{5} & {154.95 < t < 157.52} \\1 & {208.29 < t < 210.85}\end{matrix} \right.$The forcing functions are turned off at t=257.53 ms.

Bandwidth ⊗ Performance ⊗ Magnitude

The widths of the single-peak h-pulses described in the AmplitudeSeeking subsection were set by the driving frequency. Those h-pulseswere created by a SAVANT composed of three parallel LRAs. By addinganother set of three parallel LRAs we can increase the vibrationalmagnitude and bandwidth of the SAVANTs. This will allow the SAVANTs tobe driven at lower frequencies while still maintaining on-resonanceamplitudes. In FIG. 120 we show the motion of a system composed of two3-LRA systems. The control schemes for both 3-LRA systems are identicaland the schemes are very similar to that described for the single-peakh-pulses; only the amplitude switching times have been changed. Themajor difference though is that in this case the LRAs are being drivenat 25 Hz instead of the resonant frequency of 150 Hz.

FIG. 120 illustrates an Elongated h-Pulse created by 150 Hz LRAs usingour LRA model, MOD1, driven at 25 Hz. The redundancy of LRAs allows thevibration amplitude to remain comparable to a single one of our LRAmodels, MOD1, driven at its resonance. Note that the force output is notcomparable though because the force scales as the square of theoscillation frequency.

Even though the MOD1 LRAs in this group are being driven at ⅙^(th) oftheir resonance frequency, their total vibration amplitude is stillgreater than a single LRA based on our LRA model, MOD1, vibrating atresonance. Note that the total force output of this group of LRAs basedon our LRA model, MOD1, is not comparable to that of a single model LRAvibrating at resonance because the force output scales with the squareof the vibration frequency. This control scheme is an example of SAVANTsutilizing bandwidth, magnitude and performance modes simultaneously.From the example multi-dimensional control schemes above that, givenenough actuators, it is possible to simultaneously control a SAVANT inany subset of the six modes of the SAVANT architecture.

As mentioned above, a SAVANT may incorporate a wide range of vibrationactuators including a linear resonant actuator which has a moving massthat oscillates back and forth along a linear path. Other actuators thatare useful in a SAVANT include the actuators where the mass isconstrained to rotate about a particular vibration axis, following acircular or semi-circular path. These rotational actuators includeEccentric Rotating Mass actuators, Pivoting Mass actuators, and RockingMass Actuators as have been introduced earlier in this disclosure. Whilea single linear resonant actuator can impart a force on the mountingplate it is attached to, a single rotational actuator can impart atorque onto the mounting plate it is attached to. As explainedpreviously in this disclosure, the torques generated by one or morerotating vibration actuators when added with torques generated by one ormore counter-rotating vibrating actuators can sum to a net force upon amounting plate, for example in cases when the axes of rotation of therotational actuators are arranged collinearly.

Current controllers, such as Nintendo's Wii Remote Plus motioncontroller and Sony Computer Entertainment's PlayStation Move motioncontroller, could be augmented at little cost to include a SAVANT thatprovides additional haptic cues and vibrations. These could be inaddition to or instead of the ERMs currently in the devices. Though theincremental cost of adding controllers is small, the potential revenuefrom the expanded possibility of titles could be very high. Moreover, asother companies move towards controller-less motion controlled gamingand computing, haptic feedback provides an advantage for hand-heldcontrollers. At the same time, it is possible though to develop wearablehaptic devices, such as wristbands or belts incorporating SAVANTs, whichprovide spatial and directional feedback. These devices could be inaddition to or in lieu of a hand-held controller.

Other wearable applications include a SAVANT incorporated into avibration device contained within a wristband, an armband or a leg band.Still other examples of wearable applications include a SAVANTincorporated into a vibration device contained within wearableaccessories such as a pair of eyeglasses, a pair of headphones or ahearing aid. Still further applications could include incorporating aSAVANT into a vibration device that is used for providing hapticfeedback in a handheld stylus drawing or writing or pointing tasks.

Furthermore, SAVANTs can be incorporated into personal pleasure devicesto increase the range of haptic vibration sensations for a person'sbody, for usage of such haptic vibration devices either externally orinternally in relation to a person's body, or both. A SAVANT may be usedfor other hand tools and devices that are commonly used in construction;for example screwdrivers, hand-drills; pliers; and wrenches.

Another application might be a SAVANT in a device that augments realityfor a non-sensory impaired person, or alternatively in a device thatsubstitutes vibratory feedback and sensations for sensory modalities forwhich a person may have a deficit such as vision or hearing.

SAVANTs may be used to telepresence activities, such that a parent whois located in one city is able to hold a SAVANT enabled device, such asa game controller, that produces vibrations that correspond and convey,for example, to the respiration of the parent's child located in anothercity, or the heartbeat of a parent conveyed to the parent's child toenable a parent-child connection. A vibration device incorporating aSAVANT may be used to help generate calming vibration patterns for aperson having Autism Spectrum Disorder. SAVANTs may also be used togenerate vibrations in children's toys, for example inside plush toys,such as a teddy bear.

The SAVANT architecture is intentionally designed as a scalable networktopology such that a first vibration device with a first embedded SAVANTmay physically and logically interface with a second vibration devicewith a second embedded SAVANT such that the vibration controllers ofboth vibration devices could share sensors, data and control toestablish a larger SAVANT device. In this fashion, the SAVANTs embeddedinside various devices may be considered as modular vibration units thatcan be attached together to form larger SAVANTs with different and oftenmore robust capabilities.

4. ADDITIONAL ASPECTS OF SAVANT

A. Discussion of Optimal Control Methods

It is clear from FIGS. 102-104 that additional sinusoidal forcing termscan change the relative heights of the response peaks, but they can'tchange the temporal distribution, regardless of the switching time τ.This is because the forcing functions applied to each LRA all have thesame frequency and phase. Thus before t=τ,

$\begin{matrix}{{\frac{f_{1}{\sin\left( {{\omega_{1}t} + \phi_{1}} \right)}}{m} + \frac{f_{2}{\sin\left( {{\omega_{2}t} + \phi_{2}} \right)}}{m} + \ldots + \frac{f_{n}{\sin\left( {{\omega_{n}t} + \phi_{1}} \right)}}{m}} = {\left( {\frac{f_{1}}{m} + \frac{f_{2}}{m} + \ldots + \frac{f_{n}}{m}} \right){{\sin\left( {\omega_{0}t} \right)}.}}} & \left( {{Eq}.\mspace{14mu} 111} \right)\end{matrix}$

And after the switching time τ, the left-hand side of Eq. 111 is merelyrescaled by a factor of 1/n.

(Note that for all of the analysis in Section 3.2.3, we've onlyconsidered sinusoidal forcing functions with the phase φ=0. This phasewill give you the fastest 3-LRA response because it allows the system toreach the maximum amplitude in the first half-cycle. For a 2-LRA systemthough, driving functions with a phase φ=π/2 give a slightly faster 90%max amplitude response time of roughly 4.8 ms.)

It is well known from the theory of linear differential equations that asinusoidally-driven, damped harmonic oscillator has a response functionwhose frequency and phase are determined solely by the oscillatorcharacteristics and the frequency and phase of the driving function.Additional LRAs only change the amplitude of the driving function (Eq.111) and we're only considering identically LRAs in this particularanalysis. Therefore, it is impossible to change the position of thefirst peak by adding or removing LRAs from the system. Hence, since the3-LRA system has its first peak at maximum amplitude, the control methodwe propose here is the optimal control method, within the subset ofcontrol methods where each LRA is driven by a sinusoidal function withfrequency ω=ω₀.

This analysis assumes that the maximum allowable driving amplitude isthe steady-state maximum amplitude. Many actuators can be “over-driven”though; such that they can be driven beyond their steady-state maximumamplitude for a brief period of time. If this is a possibility then the3-LRA optimal control scheme is equivalent to a 2-LRA control schemewhere they are initially driven at 1.5× steady-state maximum amplitudeor a single LRA that is briefly driven at 3× steady-state maximumamplitude.

i. Discussion of the Frequency and Amplitude Response Functions

When a harmonic oscillator-type vibration actuator is driven by aconstant sinusoidal external force there are two functions thatcharacterize the response of the vibration actuator. The first is theamplitude response, defined as how the amplitude of the resulting motionincreases or decreases with time in the presence of an external drivingforce. For the previously discussed LRA model, MOD1, the vibrationactuator reaches 10%, 50% and 90% of its maximum amplitude in roughly1.53 ms, 6.05 ms and 19.75 ms respectively. Alternatively one could saythat these happen in the first, second and sixth half-wavelength. It isdesirable to achieve a faster amplitude response.

The second important relationship is how the amplitude responds to thedriving force frequency. This relationship is called the bandwidth ofthe vibration actuator. We shall denote this as the “frequencyresponse”. Typically the amplitude responds maximally to the resonantfrequency and the response diminishes as the driving force frequencydiverges from the resonant frequency. Using the same 150 Hz LRA asmentioned above, the maximum amplitude response happens for a sinusoidaldriving force with a frequency of 150 Hz, while a driving force withfrequency 105 Hz only produces an amplitude of roughly half the maximum.

Each response function mentioned above is the result of inherentphysical limitations associated with harmonic oscillators. These naturallimitations of the vibration actuators can be mitigated by employingmultiple vibration actuators in parallel. Without loss of generality weshall consider only identical vibration actuators though all that isdiscussed applies to a heterogeneous population of vibration actuatorsas well.

For example, when driven at resonance our model of an LRA, MOD1, reachesabout 33% of its maximum amplitude in the first quarter-wavelength.Leveraging this fact, one can drive of our MOD1 model LRAs together atresonance and after one quarter-wavelength the summed response amplitudeof the three LRAs will roughly be the same the maximum amplitude of anysingle MOD1 model LRA. Thus we say that these three LRAs can emulate asingle LRA that has the maximum amplitude response in minimal time (thatis to say, a quarter-wavelength, since for a harmonic oscillatorstarting from rest and driven by a sinusoidal force, the firstquarter-wavelength corresponds to the first inflection point andtherefore the first extremum of the motion).

The same approach can be applied to improving the frequency responses toovercome bandwidth limitations of any individual vibration actuator.Since a single MOD1 LRA responds to a 105 Hz driving force with roughlyhalf its maximum possible amplitude, by driving two MOD1 LRAs togetherone can emulate the single LRA on-resonance amplitude even when drivenat 105 Hz.

When one employs a collection of vibration actuators together to emulatea virtual vibration actuator possessing amplitude and/or frequencyresponses superior to any component vibration actuator in thecollection, we denote this as running a SAVANT in performance and/orbandwidth mode respectively. A wide gamut of vibration output patternscan be built from amalgamations and concatenations of performance andbandwidth modes. These output patterns include, but are not limited to:immediate cessation of vibrations; discrete gradients of constantamplitude; and single, unidirectional h-pulses. Various scenarios andexamples of control strategies are discussed below.

1) Combining multiple vibration actuators to emulate a vibrationactuator with an amplitude response faster than any component vibrationactuator. When the virtual vibration actuator goes from zero amplitudeto its maximum amplitude within one quarter-wavelength. We denote thisvibrational output as optimal amplitude response and the correspondingcontrol strategy as the SAVANT OAR Control Strategy. When the virtualvibration actuator goes from its maximum amplitude to zero amplitudewithin one quarter-wavelength. We denote this vibrational output asoptimal braking and the corresponding control strategy as the SAVANT OBControl Strategy.

2) Combining multiple vibration actuators to emulate a vibrationactuator with a frequency response greater than any component vibrationactuator, for any given sinusoidal driving force frequency.

3) Combining multiple vibration actuators to emulate a virtual vibrationactuator that undergoes optimal amplitude response immediately followedby optimal damping. This effectively mimics a single vibration actuatorthat exhibits one half-wavelength of sinusoidal motion. We denote thisvibrational output as an h-pulse and the corresponding control strategyas the SAVANT HP Control Strategy.

4) Combining multiple vibration actuators to emulate a virtual vibrationactuator that exhibits successive h-pulses of arbitrary amplitudes. Wedenote this vibrational output as amplitude seeking and thecorresponding control strategy as the SAVANT AS Control Strategy.

5) Combining multiple vibration actuators to emulate a virtual vibrationactuator that undergoes optimal amplitude response followed by constantsinusoidal motion for N>1 half-wavelengths followed by optimal damping.This effectively mimics a single vibration actuator that exhibits Nhalf-wavelength of sinusoidal motion with no periods of reducedamplitude at the onset or offset. We denote this vibrational output asan h-pulse and the corresponding control strategy as the SAVANT IMPControl Strategy.

6) Combining multiple vibration actuators to emulate a virtual vibrationactuator that generates a sequence of h-pulses such that successiveh-pulses differ in amplitude. The changes in amplitude may or may not beassociated with information external to the vibration actuators, such asdynamic position or orientation information. We denote this vibrationaloutput as a vibrational gradient and the corresponding control strategyas the SAVANT VG Control Strategy.

7) Combining multiple vibration actuators to emulate a virtual vibrationactuator that exhibits a half-wavelength oscillation of arbitrary width.We denote this vibrational output as an elongated h-pulse and thecorresponding control strategy as the SAVANT EHP Control Strategy.

8) Combining multiple vibration actuators to emulate a virtual vibrationactuator that exhibits a superposition or sequential concatenation ofany one or more of the above mentioned control sequences. This wouldinclude for example a control sequence consisting of a sequence ofh-pulses with monotonically increasing amplitudes followed by an h-pulseof a given amplitude and duration followed by a sequence of h-pulseswith monotonically decreasing amplitudes. This vibrational output is atemplate for haptically emulating the tactile feedback of a mechanicalbutton press.

ii. Alternative LRA-Type Actuators

In the above analysis only a fitted model from data of the AAC ELV1411A150 Hz LRA has been considered. There are many types of LRAs on themarket today though, so it is instructive to test the robustness of theSAVANT architecture for different actuators. One can take same data fromFIG. 101 but fit it to a hypothetical LRA with a resonant frequency of175 Hz. We can then repeat the analysis for this hypothetical LRA; FIG.121 and Table 102 are summaries of the results. Surprisingly we see thatthe relative gains are exactly the same as those for the 150 Hz LRA.Each of the three curves corresponds to a 1-LRA, 2-LRA or 3-LRA system.All LRAs are driven in-phase at 175 Hz. For the single LRA the forcingfunction is set to maximum at t=0 ms. For the 2-LRA system, at t=0 ms,each LRA is driven at maximum amplitude; at t=4.36 ms the drivingamplitudes are set to ½. For the 3-LRA system, each LRA is initiallydriven at maximum at t=0 ms; and at t=2.18 ms the forcing amplitudes areset to ⅓.

TABLE 102 Response Times for Multiple LRAs-175 Hz Number 10% Max 50% Max90% Max Increase over of LRAs Amp. (ms) Amp. (ms) Amp. (ms) 1-LRA 1 1.335.19 16.93   0% 2 1.01 2.02  5.16 69.5% 3 0.87 1.64  2.29 86.5% Responsetimes for 1-LRA, 2-LRA and 3-LRA systems based on fitted model of a 175Hz LRA.

iii. Optimal Braking Methods

For a given control effect, it is possible to predetermine the optimalbraking strategy such that the effect can be halted as quickly aspossible. This will usually involve using a forcing (braking) functionthat is 180° out-of-phase with respect to the initial forcing function.For the familiar case of the our model LRA, MOD1, the optimal brakingmethod to go from maximum mechanical vibration to effectively zeromechanical vibration is shown in FIG. 122. Each LRA in the system isinitially forced with an amplitude of ⅓, mimicking the output andresponse time of a single LRA. A signal is sent at 50 ms to initiate thebraking control sequence, as indicated by the second dashed line. At51.07 ms the forcing functions are shifted out-of-phase by 180° from theoriginal forcing functions, effectively forcing the LRAs with negativeamplitudes. At 52.33 ms the forcing amplitudes were set to 0, asindicated by the third dashed line. Because the mechanical output goesfrom maximum to effectively zero in a quarter cycle, for the parallel3-LRA system there is no control sequence that will brake the systemfaster.

FIG. 122 illustrates Optimal Braking of a 3-LRA System. In this case,the braking strategy effectively fully damps the mechanical vibrationwithin a quarter-cycle. The curve represents the summed displacement of3 LRAs driven in-phase. At t=0 ms each LRA is driven at ⅓. At t=51.07 mseach driving amplitude is set to 1 and the phases are changed by 180°.At t=52.32 ms the forcing functions are turned off.

iv. Example Operational Process

An example process according to the above is presented by the followingsteps

Step 1) Select a desired output waveform.

Step 2) Define a collection of harmonic oscillators to emulate thedesired waveform.

Step 3) Set up the equation of motion for the collection of harmonicoscillators, with each driven by its own input function. For any set ofidentical oscillators this reduces to a single equation driven by thesum of the relevant component input functions. Each discontinuous changein the desired output waveform will generically correspond to adiscontinuous change in the input functions. For harmonic oscillatorswith resonant frequency, f₀, the times at which these changes in theinput function should happen is generically of the order

$\frac{1}{2\pi\; f_{0}}$before each discontinuity.

Step 4) Solve the equation of motion with a defined set of initialconditions. For a collection of n oscillators trying to emulate a singleoscillator with maximum amplitude A, typical initial conditions forvarious desired effects are: +m A for immediate maximum amplitude; −m Afor immediate minimum amplitude (stopping or braking); +A for steadystate A; 0 for no amplitude. The necessary number of oscillators neededin order to immediately reach the emulated maximum amplitude within halfa wavelength is defined by the characteristic amplitude responsefunction for the oscillator. For our model LRA, MOD1, this number is 3because in half of a wavelength that particular LRA model has reachedabout 33% of its maximum amplitude.

Step 5) Slowly vary the amplitudes and/or discontinuity times in theinput function until the solution matches the desired output waveform toa sufficient degree of accuracy. Computational tools such as Javaapplets or Mathematica DynamicModules from Wolfram Research canfacilitate this process by enabling smooth manipulation of the inputfunction parameters, as shown in FIGS. 97-100. (Note that the resonantfrequency for this oscillator is 150 Hz, which gives

$\left. {\frac{1}{2\pi\; f_{0}} = {0.00106103\;{s.}}} \right)$

v. Tensor Product Notation

The “circle times” symbol used in Section 4, ⊗, is a symbol used toindicate the tensor product of vector spaces. We are using this notationin a similar fashion to how it is used in quantum mechanics. In quantummechanics the tensor product is used to describe the resultingmulti-particle states available to two or more interacting or entangledparticles. If one particle is in state a and another is in state b, thetwo-particle state would be labeled by a⊗b. It represents all possiblemulti-particle states available given the two particles that make up thestate. In the case of SAVANT, each SAVANT is like a quantum particlewith available states and the tensor product of those SAVANTs definesthe vector space of control effects available to the system.

For example, consider a collection of six parallel LRAs. We can chooseto group these LRAs into two groups of three. Each group of three willbe referred to as a SAVANT. We can individually (and independently) runeach SAVANT in performance mode to emulate a single LRA with enhancedresponse time. If we choose to synchronize the control of each SAVANTthough, such that they are both driven in performance mode at the sametime and with the same phase, we would effectively be running the twoSAVANTs in magnitude mode. To denote the fact that the individual LRAsin simultaneously in both the performance “state” and the magnitude“state”, we would say that they are being driven in performance ⊗magnitude.

The notation is used for convenience and is not intended to becompletely analogous to its usage in tensor algebra.

III. Incorporating a SAVANT into a Module

1.1 the Need for SAVANT Integrated Modules

An important means to advance SAVANT technology into systems designedfor a variety of applications, especially haptic applications, is toencapsulate and hide the complexity of one or more SAVANT nodes byplacing technology inside a module that provides three definedinterfaces: 1) a physical interface for rigidly attaching or docking theSAVANT integrated module to other SAVANT integrated modules or otherobjects; 2) a power interface for powering the SAVANT integrated module;and 3) a communication interface to allow external devices and servicessuch as computers, external timing sources or services, other SAVANTintegrated modules, and sensors to interface with the SAVANT integratedmodule. Within the SAVANT integrated module, a variety of necessarycomponents are integrated together to achieve the functionality neededby a product designer, while hiding the complexity of the implementationfrom the product designer. Furthermore, the three interfaces for a givenSAVANT integrated module can be defined and published independently ofthe implementation of the functionality of the module—thus allowing theproducts and the implementation of the functionality of the modules tocoevolve via standardized interfaces. Moreover, the defined interfacesallow multiple manufacturers to develop their own implementations ofgiven SAVANT integrated modules, thus permitting competition in themarketplace. These combined advantages should enable an optimized SAVANTintegrated module to be manufactured at a low cost when produced inlarge scale.

The technology integrated into a SAVANT integrated module may include:vibration actuators which can be precisely attached and aligned to themodule housing; a microcontroller or other microprocessor, DSP, FPGA,etc.; sensors needed for closed loop control of actuators and theassociated sensor conditioning electronics; power electronics includingH-bridges or their equivalents for allowing control of the vibrationactuators. Additional components that may be optionally included andintegrated into a SAVANT integrated module to provide even morefunctionality may include wireless communication such as a ZigBeelow-power radio and energy storage such as a rechargeable battery,capacitor or supercapacitor.

2.1. The SAVANT Integrated Module Physical Interface

It is useful to motivate and illustrate the physical interface throughthe example of LEGO® bricks. LEGO building blocks have a well-definedphysical interface, namely the precise size of the brick studs and theircorresponding holes; the arrangements and precise spacing of the studsand the holes; and the high manufacturing precision such that themanufacturing tolerances are measured in microns. Thus a LEGO enthusiastis able to construct his or her LEGO visions without any tools otherthan his or her hands and achieve a result having exacting precision,and furthermore LEGO bricks from decades ago are still able tophysically interface with LEGO bricks of today.

Since the SAVANT architecture encompasses an array of vibrationactuators, it is desirable to have a similar physical interface thatwill provide high precision alignment of the actuators (and theirassociated moving masses) inside the SAVANT integrated modules as wellas a physical interface that will allow precise attachment of SAVANTintegrated modules to a housing, other SAVANT integrated modules orvarious other attachment objectives. The physical interface can enableattachment in multiple orientations and translations.

2.2. The SAVANT Integrated Module Power Interface

The power interface provides external power for the internal componentsof the SAVANT integrated module—and in the case of a SAVANT integratedmodule that is designed to not only transduce electrical power tomechanical vibration, but also transduce mechanical vibration intoelectrical power it may also supply power externally while acting as agenerator or when providing power from energy storage within the SAVANTintegrated module that has been charged via harvesting vibrationalenergy. The power interface definition includes a physical connector aswell as power specifications.

2.3. The SAVANT Integrated Module Communication Interface

The communication interface allows the SAVANT integrated module tocommunicate with an external host computer, the cloud, the internet,various services such as a time reference service, other SAVANTintegrated modules, a variety of sensors and human interface devices,etc. The communication interface includes the definition of an interfaceconnector; signal characteristics and specifications, as well ascommunication protocols and specific calls that may be made. Another keycapability of the communication interface is to allow an external timingsource or time reference that may be an absolute time or a relativetime. One SAVANT integrated module may also act as a timing source ortime reference to other SAVANT integrated modules. The precisesynchronization of vibrations of a SAVANT integrated module with othermodules and other temporal events may be an essential capability.

Since SAVANT integrated modules may be used for critical applicationssuch as alerting mechanisms worn on a person's body or perhaps evenimplanted inside a person's body, the identification and authenticationof external computers, external sensors, timing sources or other SAVANTintegrated modules may be essential to avoid malware and maliciousaccess to a SAVANT integrated module. Furthermore, each SAVANTintegrated module can have a globally unique identifier such as a serialnumber for addressability. SAVANT integrated modules can have renewablesecurity so in the event that security on the device has beencompromised the security can be renewed, or alternatively oradditionally the security may be periodically or even aperiodicallyrenewed. Communication with the SAVANT integrated module may beencrypted and messages may be digitally signed to ensure systemsecurity.

2.4. Examples of Haptic Scale SAVANT Integrated Modules

Although SAVANT integrated modules may be built at a variety ofdimensional scales for different applications, we will now introducevarious examples and embodiments at the haptic scale for this inventivedisclosure.

2.4.1. “Divide and Sync” Dual ERM SAVANT Integrated Module for GameControllers

Contemporary game controllers often incorporate two ERMs, one with alarge eccentric rotating mass, the other with a small rotating mass, togenerate a large variety of vibration or “rumble” effects that enhance aplayer's experience. The rumble motors provide vibrations ranging fromaround 15 Hz to 45 Hz.

It is desirable to significantly increase the gamut of vibrationaloutput, while simultaneously ensuring that legacy vibration effects canbe emulated, new vibration effects can be synthesized, and directionalhaptic cues may be produced.

One example embodiment for achieving these goals is to replace a singleERM with a SAVANT node that includes two interleaved and synchronizedERMs of approximately half-size and not only emulate both the large ERMand the small ERM, but perform many other haptic effects, includinghaptic cues for direction. With suitable engineering and sufficientproduction volume it is feasible to have the half-sized interleaved pairof ERMs be around the same size and weight as a single ERM, and alsohave similar power consumption when emulating a single ERM.

Our general concept here is: “Divide and Sync”; that is to say, divide amotor into two approximately half-sized motors; divide an eccentricrotating mass into two interleaved approximately half-sized eccentricrotating masses; and then use closed loop control to synchronize themotions of the two eccentric rotating masses.

Continuing on with the half-sized interleaved pair of ERMs, we canencapsulate the SAVANT and a controller, position sensors, sensorconditioning electronics, H-bridges, etc. into a small module about thesize of a conventionally sized game controller ERM. Typicallypulse-width modulation is used to convey a motor speed to each gamecontroller ERM, for example with digital values ranging from 0-255. Itis possible for the module to accept a PWM input, integrate that to avoltage level, and map that to the correct frequency and magnitude ofvibration. An additional input to the module can determine whether itshould emulate, for example, either a small or large eccentric rotatingmass.

Some people who play videogames play with the vibration completely offsince they believe that the vibration interferes with their ability toaim and distract their attention. With conventional ERMs the frequencyand the vibration magnitude are locked together, and thus a gamer cannotreduce the vibration amplitude level without correspondingly reducingthe frequencies of the haptic effects. With a half-sized pair ofinterleaved rotating masses it is possible to have a global vibrationamplitude level parameter set by the user in the game options menu sothat a gamer may increase or decrease the amplitude of the hapticvibration effects without altering the frequency characteristics ofthose effects.

Since our perceptual system has a nonlinear response to stimuli,including haptic stimuli, it is further possible to have the globalamplitude parameter input to a SAVANT integrated module be mappednonlinearly to control the magnitude of vibration to appear natural.

The half-sized interleaved pair of ERMs can be incorporated into aSAVANT integrated module for internal integration into a game controlleror external integration via an expansion port.

The divide and sync module could also be designed into the gamecontroller itself. One example embodiment is shown in a few views inFIGS. 200a, 200b and 200c . In this embodiment, one divide and syncmodule is in each hand grip, in the locations typically occupied by onelarge and one small ERM. In addition, another divide and sync module isplaced in the center of the game controller. Other example embodimentsinclude any and all combinations of the three module locations shown inFIGS. 200a, 200b and 200c , as well as in additional locations aspermitted by the design of the game controller.

2.4.2. Single ERM Rumble SAVANT Integrated Module

Another SAVANT integrated module for rumble applications is a single,full-sized ERM having either a large or small mass, which is capable ofsynchronizing with other SAVANT vibration actuators. Although a singleERM module does not have the capabilities of the above described “Divideand Sync” SAVANT integrated modules, it is less expensive and may be away for game console manufacturers to at least begin to make SAVANTcapable game controllers. These SAVANT integrated modules could emulatePWM speed control, but also have the capability for position control,thus allowing the module to be part of a larger SAVANT. The ERM can beincorporated into a SAVANT integrated module for internal integrationinto a game controller or external integration via an expansion port.

2.4.3. Single Balanced Rotating Mass SAVANT Integrated Module

A final example of a SAVANT integrated module for game controllers maybe a rotationally symmetric mass designed for high-speed rotationalinertia applications. High-speed rotational inertia might only requirespeed control rather than position control. The rotational inertia mightbe switched on inside a game controller, for example, when emulating aStar Wars type Light Saber. Another application might be not for gamesbut rather for stabilization of a handheld apparatus such as a handheldcamera or game console. ERMs are exceptional at producing high vibrationforces out with a relatively small power input. This balanced rotatingmass designed for high rotational inertia can be incorporated into aSAVANT integrated module for internal integration into a game controlleror external integration via an expansion port.

2.4.4. “Divide and Sync” Dual ERM Scale SAVANT Integrated Module forMobile Devices

Since consumers often prefer thin form factors for smartphones, tabletsand other mobile, portable devices it is desirable to have thincomponents, including vibration actuators. One means for doing this isto take the eccentric rotating mass of an ERM vibration actuator anddivide it in half, and place half on one side of the motor shaft andbearing; and half on the other side of the motor shaft and bearing. Thishas the advantage of reducing the cantilever effect upon the bearingthough the equal distribution of the eccentric rotating mass, and alsoreduces the radius needed for the eccentric rotating masses. The ERMs ina smartphone typically rotate about up to 175 Hz which is much fasterthan the ERMs used for rumble effects in game controllers.

This is halfway there to our “Divide and Sync” strategy. By driving thesplit eccentric rotating masses by two half-sized motors it is possibleto not only emulate a traditional mobile phone ERM, but also produce newhaptic effects, and directional haptic cues, as will be later shown inthis inventive disclosure. At this scale it may be unnecessary tointerleave the eccentric rotating masses since the parasitic torqueeffect is likely to be very small. These can be incorporated into aSAVANT integrated module for internal integration into a smartphone orexternal integration via an expansion port.

3. Parasitic Torque from Dual ERMs and how to Avoid or Eliminate itThrough the Interleaving of Eccentric Rotating Masses

As shown in FIG. 123A by the arced arrows, when two co-rotating ERMsco-rotate, the forces shown as 1 and 2 combine. By varying the phasebetween the ERMs, the total force output is adjustable. This can be usedto create high fidelity haptic effects and cues. For instance, as shownin FIG. 123B, a small phase angle may result in a high force output. Andas shown in FIG. 123C, a large phase angle may result in a low forceoutput.

When the ERMs are in phase, the forces align and produce double theforce of one ERM. When the ERMs are out of phase, the forces point inopposite directions, as shown in FIG. 123D. However, if the ERMs areseparated by a distance D, the forces do not exactly cancel out. Rather,as shown in FIG. 123E, the forces from the two ERMs out of phase producea “parasitic torque”, which is generally undesirable for haptics.

As shown by FIG. 123F, when holding a device, parasitic torque is feltbased on the distance W between contact points. Examples of this areshown in FIGS. 124A-B, which illustrate situations with varyingdistances (D) between the ERMs and distances (W) between the contactpoints. These two examples show that as the ratio of D/W gets larger,the more pronounced the effects of parasitic torque. And that if theratio of D/W were small enough, the parasitic torque would benegligible.

One solution, as shown in FIG. 125A, interleaves the ERMs and brings thecenter of the masses into the same plane. In this case, D is equal tozero, which means there is no parasitic torque as shown in FIG. 125B.

Thus, it can be seen that co-rotating, co-axial ERMs can produce highfidelity vibration effects. Axial separation between the ERMs candiminish the quality of the vibration effects due to parasitic torque.By interleaving the ERMs, the parasitic torque can be eliminated,resulting in the highest quality effects.

4. Mass Production of Interleaved ERMs

One example of how interleaved ERMs could be produced in large volume isnow addressed. Key features of the finished product include: interleavedeccentric masses; balanced as an assembly; and integrated positionsensors. As will be explained, this process is scalable to very smallERMs that can be used in cellular phones and other portable mobiledevices.

An initial step includes providing masses that can be forged, cast,machined, stamped or otherwise manufactured in a high volume, loosetolerance process. Suitable mass materials may include those used as asleeve bearing, e.g., bronze. One example of inner and outer masses isshown in FIG. 126A. FIG. 126B illustrates the drilling and reaming ofthe holes for the masses. FIG. 126C illustrates fitting the shaftthrough both masses. FIG. 126D illustrates examples of motor casingsslid onto the masses. FIGS. 126E and 126F illustrate the rotorassemblies being presses onto the masses. FIG. 126G illustrates that themotor casings are fixed in place, the shaft is spun from the ends, andforce sensors are used to determine the balance. In this example,automated tooling touches the masses to take off material until theassembly is balanced. And as shown in FIGS. 126H and I, end caps areapplied to the ends of the assembly. The end caps include brushes tocommutate the motor and one or more positions sensors for the motor. Amicroprocessor may also be included in one or both endcaps. Finally, asillustrated in FIG. 1261, the shaft is split so that each mass isindependently rotatable.

5. Driving the ERMs Through a Transmission to the Motors

In most of the ERM embodiments shown in this specification, the ERMs aredirectly driven and are coaxial to the driving motor. However theeccentric masses do not need to be driven this way in order to producethe correct vibration effects. There can be instead driven through atransmission such as gears, belts, joints, cables, or any othertransmission capable of transferring rotational motion.

The main advantage of driving ERMs through a transmission is the abilityto orient the motors in different ways to the masses, so that thepackage fits better into a given device. Some example embodiments areshown in FIGS. 127-129. FIGS. 127A-C show an embodiment of interleavedERMs where they are directly driven and coaxial to the motors. FIGS.128A-B illustrate examples of the ERMs manufactured as discussed abovewith regard to FIGS. 126A-I. FIGS. 129A and 129B show an embodiment ofinterleaved ERMs driven by spur gears, where the axes of rotation of themotors are parallel to the axis of the ERMs. And FIGS. 130A and 130Bshow an embodiment of interleaved ERMs driven by bevel gears, where theaxes of the motors are perpendicular to the axis of the ERMs.

In addition to these example embodiments, there are many otherpossibilities for driving ERMs through a transmission. For example thetransmission could be a cable drive, where the motors are positioned inconvenient locations far away from the module. There could be more thantwo interleaved ERMs, with one or more driven through a transmission. Aslong as the ERMs themselves are positioned in the correct way, themotors can be placed wherever is most convenient and an appropriatetransmission device can be selected in order to drive the ERMs with themotors.

6. Vibration Cancellation (in General)

Many types of equipment experiences problems with self-generatedvibration. These vibrations can lead to wasted energy, fatigue,premature failure of components, audible noise, and other issues. In thecase of sensor networks it can be very beneficial for the sensorfidelity to cancel vibrations that the sensor is experiencing, whichcould potentially improve many sensor characteristics and allow fordeployment of sensors and sensor networks in more harsh or non-idealenvironments than such sensors would normally tolerate or produce usefuldata.

Often times the self-generated vibrations are periodic, meaning thatthey occur at one or more specific frequencies. This is especially truefor equipment with rotating parts, where vibration is caused by animbalance in rotating components, and occurs at the frequency ofrotation. In some cases the vibrations may be composed of multiplefrequencies, but typically there will be a dominant resonance mode wheremuch of the vibration energy exists.

In order to cancel out a vibration force, an equal and opposite forcemust be applied to the equipment to counteract the force causing thevibration. For periodic vibrations, particularly with rotatingequipment, this force is sinusoidal in nature along a given axis.

One or more dual ERM modules are an ideal solution for canceling outperiodic vibrations. A single module can produce a vibration force thatrotates at a specific frequency and magnitude, which on its own couldcancel out some types of periodic vibrations. Two modules pairedtogether and counter-rotating with respect to each other can produce adirectional vibration at a specific frequency and magnitude, which couldprove even more useful for canceling out a vibration. Four modulestogether would provide two adjustable directional vibrations, whichcould be used to completely cancel out a specific frequency of vibrationin some cases (e.g. in rotating machinery). Six modules together couldprovide three orthogonal directional vibrations, which could prove evenmore useful.

Modules could be attached in strategic locations on a piece of machineryto cancel out vibrations. The closer to the source of vibration, theeasier it is to cancel it, however it may also be sufficient to cancelvibration in a particular location (such as the cab of a large machinewhere an operator may sit, or at the mounting point of a sensor in orderto decouple it from the effects of that vibration).

Modules could contain their own accelerometers or other sensors, toautomatically pick out resonant modes for cancellation. This would allowgreater accuracy and speed, as well as dynamic adaptability than asensor-less design, though it is possible to use the modules initiallypassively to measure the vibration frequencies in terms of their effectson the eccentric masses in the case where cost, complexity, or size isan issue.

Modules could communicate with each other to strategically cancel outmany vibration frequencies with minimal effort. The modules, in thecourse of their measurements may determine that certain modules are moststrategically placed for a particular vibration, using all the sensorstogether as a network. The effects of the vibration cancellation as itpropagates through the system can also be measured by the remote sensorsof other modules. The communication of multiple modules could also beused to cancel distributed or complex vibrations which one module wouldnot be able to measure alone.

7. Generating Beat Patterns Effects Using a Synchronized Pair of ERMs

As previously shown, it is possible to generate beating patterns withvibrating actuators. For instance, FIG. 112 shows an example beatpattern which may easily be achieved with a pair of LRAs as describedherein.

ERMs can also be used to produce beating patterns, although there aresome practical differences when compared to LRAs. Any two ERMsco-rotating at different frequencies in the same device will produce abeating vibrational pattern. The direction of the beating force rotatesin the same direction as the ERMs, and the frequency of the beatingforce is based on the speed difference between the ERMs. The amplitudeand shape of the beating force is a function of the speeds of the ERMsand their eccentricities. In general, both the amplitude and frequencyof the beating force can be varied.

Some example beating patterns for a pair of co-rotating ERMs with equaleccentricities are shown in FIGS. 131, 132 and 133. In all of theseexamples, the ERMs begin and end in “Spinning Reserve”. In FIG. 131 thebeating effect has constant magnitude (amplitude) and constantfrequency. In FIG. 132 the beating effect has constant frequency, buthas an increasing magnitude throughout the effect. And in FIG. 133 thebeating effect has constant magnitude, but has a variable frequency.Varying the beat frequency and the amplitude (magnitude) is alsopossible.

The beating patterns in FIGS. 131-133 are only a small subset of thepossible effects that utilize beating phenomenon with two ERMs. Stillmore things are possible with more than two ERMs. One notable example isto use one pair of co-rotating ERMs to produce a beating force withrespect to another pair of co-rotating ERMs. With this configuration, itis possible to achieve adjust the phase difference between co-rotatingERMs so that the beating force goes completely to zero during the lowpoints of the vibration waveform, for any given beating frequency.

When there is a single ERM, one can only control the input force, whichmost directly determines the angular velocity. This angular velocitythus determines the force felt by the user. This means that one cannotfor instance use a single ERM to create an arbitrarily large force at anarbitrarily small rotation frequency. When there are two ERMs, the forcefelt by the user depends on both angular velocities. This means that onecan keep the force constant even while continuously varying theindividual angular velocities. (See plots showing varying angularvelocities/forces and the constant sum in the X-direction.)

When driven in a manner as to produce a constant angular velocity, anindividual ERM produces a sinusoidal force in any given direction in itsrotational plane with a frequency proportional to its angular velocity.When each ERM is driven in such a manner, but with different angularvelocities, there is a resulting beat pattern in the force. This beatfrequency is given by the difference of the angular velocities dividedby 2*pi.

This beat pattern can be particularly useful in haptic devices becauseof the disparity between typical ERM driving frequencies and frequencieswhich humans are typically responsive to. People tend to only be able todiscern individual pulses in waveforms with frequencies less than about5 Hz. Since the force output of an ERM is proportional to the square ofits rotation frequency, typical ERMs used in handheld devices cannotproduce noticeable forces in the haptically relevant range.

When one has two ERMs, though, it is very easy to produce hapticallyrelevant frequencies. By setting the difference between the two ERMfrequencies to be less than 5 Hz, the envelope of the beat pattern willprovide the illusion of a low frequency force. The ERMs can spinarbitrarily fast, creating arbitrarily high amplitudes, while stillmaintaining a constant beat frequency.

The resultant beat patterns can have many applications in everydaydevices. A particularly salient application is that of hapticnavigation. There are two output dimensions available to beating ERMs:their amplitude and their beat frequency. Haptic navigation devicescould leverage either or both of these modalities for navigation. Forinstance, as a user approached a desired end point the ERMs could bedriven in such a way as to maintain a constant amplitude but vary thebeat frequency. Making it such that, for instance, the beat frequencyincreased as the user approached the desired end point and decreased asthey moved away from it. The same could be true for a scenario where theERMs are driven with a constant beat frequency but the overall amplitudechanges as the distance to the target position varies. Finally, thesemodalities can be combined in many ways. One example would be to choosetwo orthogonal spatial directions and to have, e.g., the beat frequencyvary as the user moved the device along one direction (e.g., parallel tothe ground) and the amplitude vary as they moved along the orthogonaldirection (e.g., perpendicular to the ground).

These vibration beat patterns may be simultaneously enhanced withrelevant visual stimuli, relevant audio stimuli, or both. These types ofdevices could be used for indoor navigation, object location within adense collection of objects, or navigation to another person or animal.There are also myriad applications for persons with sensory impairments,for instance a haptic feedback pointing device that used beat patternsto let the user know when they were close to an icon or target region.They could also be used to gently and humanely guide animals away fromcertain areas via vibration collars, particularly if there were certainfrequencies that produced sharp responses in the given animal. This typeof navigation could also be used as an active feedback mechanism inpedagogical settings, for instance to train people to drive certainvehicles. Beat patterns could also be useful in therapeutic devices suchas massage chairs and personal massagers.

Beyond beat patterns it is possible use arbitrarily complicated inputcontrol functions to create complex output forces. These output forcepattern need not be cyclic or repetitive. To create such force patternswe have created interactive software tools that allow one to vary theinput control functions and see the resultant outcome. These tools allowfor arbitrary input control patterns and are extensible to multipledual-ERM SAVANT integrated modules. With a sufficiently high number ofdual-ERM SAVANT integrated modules, any reasonably conceivable outputforce pattern is achievable.

8. Generating Vibrato Effect Effects Using a Synchronized Pair of ERMsto Delineate an Axis of Vibration

When two ERMs have the same eccentricity and have concentric andcoplanar rotating force vectors with equal magnitude that counter-rotatethey produce a linear vibration along an axis in the plane. Thedirection of this axis depends on the initial phase of the two ERMs. Aperson may have difficulty recognizing the direction of the axis ofvibration if the amplitudes are small or if the oscillation is fast. Oneway to make the direction axis more discernable is to create smallperturbations in the motion. These perturbations can come in threeforms: a fast perturbation in the phase relative to the oscillationalong the axis; a slow perturbation in the phase relative to theoscillation along the axis; and an oscillation about the extremum ofeach oscillation. These perturbations are referred to herein as “vibratoeffects”.

The axis of vibration can rotate at a slower rate than the vibrationfrequency and it is quite noticeable. For example, the ERMs cancounter-rotate at 25 Hz, and the linear axis of vibration may be rotatedfor example at 0.5 Hz. However, the axis of vibration can also oscillateabout a given angle in the plane, and thus create a vibrato effect, alsomaking the axis of vibration noticeable. Vibrato is used with stringedinstruments such as a cello when a performer is required to play asustained note. The vibrato adds a brilliance to the auditory perceptionof the sustained note, otherwise, our sensory and perceptual systems aredesigned to adapt and filter out such constant stimuli.

This haptic vibrato effect modulates the axis of vibration in the plane;thus, this effect can have several parameters: the angle of the axis ofvibration in the plane (because of symmetry that angle can range from 0to 180 degrees); the amplitude of the oscillation of the haptic vibrato;the frequency of the oscillation of the haptic vibrato.

To understand how vibrato effects are constructed, we first consider theresultant forces from a stationary linear vibration:FE1x=A1 cos(ω1t+Φ1+σ1)+A1 cos(−ω1t−Φ1+σ1)FE1y=A1 sin(ω1t+Φ1+σ1)+A1 sin(−ω1t−Φ1+σ1)where A1 is the amplitude of the vibration along the axis, ω1 is theco-rotation angular velocity, and Φ1 and σ1 represent relative andabsolute phases.

In order to produce the vibrato perturbations, a time-varying phasefunction is added. For simplicity we will consider sinusoidally-varyingphases but they could in principle be any function of time. These phaseswill be represented as α*sin(Ω*t), where α is the amplitude of thevariation and Ω is the angular frequency. With these additions, theresultant forces are:FE1x=A1 cos(ω1t+Φ1+σ1+α*sin(Ω*t))+A1 cos(−ω1t−Φ1+σ1+α*sin(Ω*t))FE1y=A1 sin(ω1t+Φ1+σ1+α*sin(Ω*t))+A1 sin(−ω1t−Φ1+σ1+α*sin(Ω*t))where α controls the angle range that the vibrato effect happens between(it equals half the total range). While in principle it can bearbitrarily large, practically it should probably be kept smaller thanpi/2, because α=pi/2 means the vibrato would sweep through an angle ofpi (180 degrees). For most applications the angular variations should beconstrained to a few degrees around the oscillation axis. Beyond a fewdegrees it seems the effect loses meaning, though it may be useful forother haptic effects. Ω controls the frequency of the vibrato, such thatΩ=2*pi would be a vibrato at 1 Hz.

9. External Control of One or More SAVANT Integrated Modules

Once a SAVANT integrated module is available, it may be controlled by anexternal computer or by attaching a human interface device such as aMIDI controller to produce a variety of effects. Additionally, a SAVANTintegrated module may have a variety of functions that may be utilizedby selecting the function and including various parameters. Moreover, aSAVANT integrated module may include a library of haptic effects.

9.1. Balance Control Between Two or More Modules

It is easy to emulate a stereo balance control. For instance:

-   -   Amplitude of Module 1+Amplitude of Module 2=constant while        Frequency of Module 1=Frequency of Module 2.

More generally, a function F(x) could be used, for example to have anonlinear mapping of amplitude, such that:

-   -   F(Amplitude of Module 1)+F(Amplitude of Module 2)=constant while        Frequency of Module 1=Frequency of Module 2.

This approach can be expanded from two Modules as described above to nModules.

An interleaved ERM module is capable of controlled modulation of manytypes of effects. Examples include:

-   -   Varying the frequency of a beating effect, while keeping        constant force amplitude    -   Varying the force amplitude of a beating effect, while keeping        constant beat frequency    -   Varying both force amplitude and beat frequency simultaneously    -   Varying the amplitude of vibration while keeping frequency        constant    -   Varying the speed of a rotating directional effect while keeping        the force amplitude constant    -   Varying the direction of a directional effect with constant        force amplitude    -   Sweeping a directional vibration back and forth at a varying        rate

Any effect that can be modulated on single module can be used todifferentially vary two or more modules. For example:

-   -   Increasing vibration amplitude of one module while decreasing        vibration amplitude of a second module    -   Increasing beating frequency in one module while decreasing        beating in another module

The above may be coupled with sensors that determine position andorientation so that the device can be used for navigation.

10. Vibration Tracks for Handheld and Wearable Devices

With SAVANT's ability to create arbitrary motion output in a device, itis possible to create pre-programmed control schemes for handheld and/orwearable devices that synchronize with multimedia events such aswatching a movie, listening to music or playing a video game. We denotethese control schemes as “vibration tracks” in analogy with audio andvideo tracks in film. These tracks can exists alongside multimediasignals as a separate signal layer or they can be embedded together intoa single framework.

As a simple example, consider watching a movie on a video game console.The video game console can add value to the movie watching experiencerelative to watching it on a standard DVD or Blu-ray player byleveraging the motion output capabilities of the handheld controller.While watching the movie, the user could download a vibrationtrack—either officially created be the movie producers or created bythird-parties—that would produce haptic effects during the movie thatwere synchronized to the film. These effects could be, for example,rumbling during scenes in moving vehicles, sharp impulses when gunsfire, or any other haptic effect synchronized to the film in a manner asto add entertainment value. As previously stated these vibration trackscould be created for synchronization with any multimedia event andintended for any hand-held or wearable device.

11. Methods for System Identification and Classification of the Systemto which a Module is Coupled

The dual ERM's capabilities regarding generation of arbitrary forceamplitudes, frequencies, and directions, as well as the range of highfidelity sensors such as accelerometers and gyroscopes allow for notonly measurement of the system coupled to the module (such as a handholding a game controller), but also application of forces to thatsystem. Most modern game controllers now have a variety of MEMS sensorsintegrated with sensor fusion algorithms which provide motion trackingfeedback such as position, orientation, velocity, and acceleration.These signals can be used for the system identification procedure. Withthe combination of input and output to a system, the ERM module ormodule group can effectively ‘shake’ the system and measure theresponse. For an example of the type of input needed for this procedure,consider a ten second sine wave generated by the dual ERM which rangesfrom 1 Hz to 50 Hz at 2N peak-to-peak force, pausing at each frequencyfor brief intervals. The input frequencies are recorded, as well as theactual acceleration and velocity of the system. Then a model of thatsystem can be fitted to that data which estimates many types ofparameters. That model could be used to classify various systemcharacteristics such as the size of hand holding the controller (in thecase of a game controller), how tightly the hand is holding thecontroller, whether it is likely to be a child, adult, female, or malehand, as well as the type of grip, potentially even identify aparticular individual. This model can easily be updated over time, andso could potentially be useful in the medical fields for rehabilitationand assessment.

In the case of other systems being coupled to the ERM, systemidentification could be used by the ERMs, especially in a network, toidentify or classify the structure, changes in the structure over time,dynamic behaviors of the structure, orientation (in the case where thereare no accelerometers or there is too much noise in the system for theaccelerometers), or to determine other parameters.

12. Harvesting Vibrational Energy

When the motors in an individual SAVANT module have no energy applied,and when they are subject to vibrations, the resulting movement of themasses moves the motors, and thus generate electrical current. Thiscurrent can be harvested and stored by a simple addition to the circuit(in some cases, motor driver chips have this functionality built-inalready), extending the life of any battery the SAVANT system is poweredby. The amount of energy generated by the modules relative to the amountrequired for operation depends on how much vibration the module isexposed to, the size of the masses, and the frequency contents of thevibrations.

Since SAVANT systems are designed to span N spatial dimensions, this inprinciple allows for energy harvesting from motion in N spatialdimensions. What this means is if the vibration is not just in, forexample, the x direction, but also y and z, then an arbitrarystrategically oriented group of modules could harvest that energy. Thisis a direct advantage over current energy harvesting technologies, whichtend to be along a single axis or in one plane. Thus, if for example aphone had three orthogonal SAVANT nodes integrated then it couldcontinuously regenerate its battery during transportation of the devicein clothes or a bag.

Various reference materials are mentioned below, and are whollyincorporated by reference here. The reference materials include thefollowing. The white paper from Immersion Corporation, entitled “Hapticsin Touchscreen Hand-Held Devices,” dated April 2012. This white paperdescribes in Section 3.1 four types of actuators: Eccentric RotatingMass Actuators (ERMs), Linear Resonant Actuators (LRAs), Piezo Modules,and Electro-Active Polymer Actuators (EAPs). The SAVANT architecture canbe used with all of these types of actuators, and various instantiationsof each. The monograph, “Engineering Haptic Devices: A Beginner's guidefor Engineers,” Thorsten A. Kern, editor, published by Springer-Verlag,© 2009.

The monograph, “Vibrations and Waves,” by A. P. French, published by W.W. Norton & Company; 1 edition (1971).

The monograph, “Human Haptic Perception: Basics and Applications,”edited by Martin Grunwald, published by Birkhauser Verlag; (2008).

The monograph, “Feedback and Control for Everyone” by Pedro Albertos andIven Mareels, published by Springer-Verlag; (2010).

The blogpost, “Enabling high-definition haptics: introducing piezoactuators,” by Eric Siegel of Texas Instruments.

The data sheet, “DRV 8601: Haptic Driver for DC Motors (ERMs) and LinearVibrators (LRAs) with Ultra-Fast Turn-On,” from Texas InstrumentsIncorporated.

The World Wide Web article “How To Disassemble an Xbox 360 WirelessController” from instructables.com.

The following application notes from Precision Microdrives Limited:“AB-002: Discrete H-bridge For Enhanced Vibration Control” and “AB-003:Driving Linear Resonance Vibration Actuators”.

Furthermore, the reference by Eric W. Weisstein entitled “LissajousCurve,” from MathWorld—A Wolfram Web Resource.

If there is a conflict or inconsistency between material in the instantspecification and any discussion in the aforementioned references, thenthe specification dominates. This includes any conflicts orinconsistencies with regard to definitions, concepts, jargon, use oflanguage, terminology or the like.

Each of the vibration devices described herein according to the presentdisclosure, including the SAVANT integrated modules, can be used as ahaptic interface or to provide haptic output for a device. Such devicesmay include: a game controller, a motion game controller, a handheldgame console, a remote control, a handheld portable computer, anavigation device, a handheld construction tool, a handheld surgicaltool, a stylus, a plush toy, a pair of eyeglasses, a wristband, awristwatch, a belt, an armband, a leg band, a mobile phone, a tabletcomputer, a device for aiding a vision-impaired person, a device foraiding a hearing-impaired person, and a device for augmenting realitywith haptic feedback, a personal pleasure device for providingpleasurable haptic sensations, a vibration device used for singly or ina pair for conveying telepresence, a vehicle, a steering mechanism for avehicle, a seat for a vehicle, a touch panel, etc.

Although aspects of the disclosure have been described with reference toparticular embodiments, it is to be understood that these embodimentsare merely illustrative of the principles and applications of thepresent disclosure. It is therefore to be understood that numerousmodifications may be made to the illustrative embodiments and that otherarrangements may be devised without departing from the spirit and scopeof the present disclosure as defined by the appended claims. By way ofexample only, it is possible to vary aspects of the embodiments hereinto some degree while achieving the advantages of the Synchronized Arrayof Vibration Actuators in a Network Topology architecture and otherbenefits of the disclosure.

INDUSTRIAL APPLICABILITY

The present invention enjoys wide industrial applicability including,but not limited to, handheld or wearable devices providing hapticsensations or feedback to a user.

The invention claimed is:
 1. A handheld game controller configured as ahaptic interface, comprising: at least one input device configured todetect user input; a controller housing having at least two handlesincluding a left side handle and a right side handle; and a vibrationdevice comprising: a first linear motion vibration actuator received bythe left side handle of the controller housing, the first linear motionvibration actuator containing a first moving mass and a first base, thebase being mechanically coupled to the left side handle with the firstlinear motion vibration actuator being longitudinally arranged andlocated in the left side handle of the controller housing so that thefirst moving mass is moveable relative to the first base in a back andforth linear motion; a second linear motion vibration actuator receivedby the right side handle of the controller housing, the second linearmotion vibration actuator containing a second moving mass and a secondbase, the base being mechanically coupled to the right side handle withthe second linear motion vibration actuator being longitudinallyarranged and located in the right side handle of the controller housingso that the second moving mass is moveable relative to the second basein a back and forth linear motion; a vibration device controlleroperatively coupled to the at least one input device, the vibrationdevice controller being configured to control the first and secondlinear motion vibration actuators to output haptic vibration waveforms;and at least one driver circuit operatively coupled to the vibrationdevice controller and the first and second linear motion vibrationactuators to amplify control signals from the vibration devicecontroller to the first and second linear motion vibration actuators. 2.The handheld game controller of claim 1, further comprising a mountingplatform secured to the controller housing, wherein the first linearmotion vibration actuator is attached to a first side of the mountingplatform disposed along the left side handle of the controller housingand the second linear motion vibration actuator is attached to a secondside of the mounting platform disposed along the right side handle ofthe controller housing.
 3. The handheld game controller of claim 1,wherein the at least one driver circuit is further configured to feedback information for closed loop control to the vibration devicecontroller.
 4. The handheld game controller of claim 1, wherein thevibration device controller comprises a digital signal processorconfigured to perform closed loop control of at least one of the firstand second linear motion vibration actuators.
 5. The handheld gamecontroller of claim 1, wherein the first and second linear motionvibration actuators are electromagnetic actuators.
 6. The handheld gamecontroller of claim 1, wherein each of the first and second linearmotion vibration actuators employs a voice coil.
 7. The handheld gamecontroller of claim 1, wherein each of the first and second linearmotion vibration actuators is categorized as a voice coil motor.
 8. Thehandheld game controller of claim 1, wherein the first and second linearmotion vibration actuators are linear resonant actuators.
 9. Thehandheld game controller of claim 1, wherein the first and second linearmotion vibration actuators each have at least one resonant frequency.10. The handheld game controller of claim 1, wherein the first andsecond linear motion vibration actuators each have a magnetic movingmass that is constrained to travel along a linear path fixed in relationto the controller housing.
 11. The handheld game controller of claim 10,further comprising travel stops configured to limit the travel of themagnetic moving masses of the first and second linear motion vibrationactuators along their respective linear paths.
 12. The handheld gamecontroller of claim 11, wherein the vibration device controller isfurther configured to generate respective control signals to each linearmotion vibration actuator to cause one or more of the moving masses toimpact its respective one of the travel stops to thereby generate ahaptic force effect of an impact.
 13. The handheld game controller ofclaim 1, wherein a combined haptic force effect associated with one ormore of the haptic vibration waveforms corresponds to a line, a circleor an ellipse pattern.
 14. The handheld game controller of claim 1,wherein a combined haptic force effect associated with one or more ofthe haptic vibration waveforms corresponds to a Lissajous vibrationpattern.
 15. The handheld game controller of claim 1, wherein anamplitude of a combined haptic force effect associated with one or moreof the haptic vibration waveforms is varied over time.
 16. The handheldgame controller of claim 1, wherein a direction of a combined hapticforce effect associated with one or more of the haptic vibrationwaveforms is rotated with respect to a reference frame of the vibrationdevice.
 17. The handheld game controller of claim 16, wherein thedirection of the combined haptic force effect is rotated with a definedangular frequency of rotation.
 18. The handheld game controller of claim16, wherein the combined haptic force effect has a variable direction,and the variable direction is varied to correspond to a simulated event.19. The handheld game controller of claim 16, wherein the combinedhaptic force effect has a variable direction, and the variable directionis varied to correspond to a motion.
 20. A haptic game controller,comprising: a housing with a first handgrip and a second handgrip; afirst linear vibration actuator operatively coupled to the firsthandgrip, the first linear vibration actuator being arranged withrespect to the first handgrip to have a first defined geometricalrelationship to a reference frame of the game controller; a secondlinear vibration actuator operatively coupled to the second handgrip,the second linear vibration actuator being arranged with respect to thesecond handgrip to have a second defined geometrical relationship to thereference frame of the game controller; and a controller deviceconfigured to control the first and second linear vibration actuators,the controller device having a processor to decompose a geometricalhaptic vibration pattern into control signals for component vibrationforces necessary for the first and second linear vibration actuators torender the geometrical haptic vibration pattern relative to thereference frame of the game controller.
 21. A haptic game controller,comprising: a housing with a first handgrip and a second handgrip; afirst linear vibration actuator operatively coupled to the firsthandgrip; a second linear vibration actuator operatively coupled to thesecond handgrip, wherein the first and second linear vibration actuatorsare each arranged to have a defined geometrical relationship to areference frame of the game controller; and a controller deviceconfigured to control the first and second linear vibration actuators,the controller device configured to perform closed loop control of eachlinear vibration actuator.
 22. A method of operating a handheld gamecontroller to generate one or more vibration waveforms, the methodcomprising: providing a controller housing having a left side handle anda right side handle and a vibration device comprising: a first linearmotion vibration actuator received by the left side handle of thecontroller housing, the first linear motion vibration actuatorcontaining a first moving mass and a first base, the base beingmechanically coupled to the left side handle with the first linearmotion vibration actuator being longitudinally arranged and located inthe left side handle of the controller housing so that the first movingmass is moveable relative to the first base in a back and forth linearmotion; a second linear motion vibration actuator received by the rightside handle of the controller housing, the second linear motionvibration actuator containing a second moving mass and a second base,the base being mechanically coupled to the right side handle with thesecond linear motion vibration actuator being longitudinally arrangedand located in the right side handle of the controller housing so thatthe second moving mass is moveable relative to the second base in a backand forth linear motion; detecting, by at least one input device, userinput for the handheld game controller; in response to the user inputdetected by the at least one input device, a vibration device controllercontrolling the first and second linear motion vibration actuators tooutput haptic vibration waveforms detectable by a user of the handheldgame controller; and amplifying, by at least one driver circuit, controlsignals from the vibration controller to the first and second linearmotion vibration actuators.